A walking mechanism of a crawler-type robot comprises a vehicle body and crawler-type walking mechanisms arranged on the two sides of the vehicle body, each crawler-type walking mechanism comprises a crawler belt, a wheel set and a swing arm assembly, and each wheel set comprises a driving wheel, a tensioning wheel, a towing wheel and a loading wheel; each loading wheel is connected with the vehicle body through a swing arm assembly, each swing arm assembly comprises a swing arm and a loading wheel control oil cylinder, one end of each swing arm is fixedly connected with a supporting shaft of the corresponding loading wheel, the other end of each swing arm is hinged to the vehicle body, one end of each loading wheel control oil cylinder is hinged to the vehicle body, and the other end of each loading wheel control oil cylinder is hinged to the middle section of the corresponding swing arm. The tensioning wheel is rotationally connected with the vehicle body through a tensioning wheel control oil cylinder, the loading wheel control oil cylinder and the tensioning wheel control oil cylinder are connected with a hydraulic control system through hydraulic oil pipes, the loading wheel and the tensioning wheel are displaced under the control of the hydraulic control system, and the walking posture of the tracked robot is changed.

    一种履带式机器人的行走机构,包括车体,以及车体两侧设置的履带式行走机构,履带式行走机构包括履带、车轮组、摆臂组件,车轮组包括驱动轮、涨紧轮、拖带轮、负重轮;各负重轮分别通过一个摆臂组件与车体连接,摆臂组件包括摆臂、负重轮控制油缸,摆臂一端与负重轮的支承轴固定连接,另一端与车体铰接,负重轮控制油缸一端与车体铰接,另一端与摆臂的中段铰接;涨紧轮通过涨紧轮控制油缸与车体转动连接,负重轮控制油缸和涨紧轮控制油缸均通过液压油管连接液压控制系统,在液压控制系统的控制下使负重轮以及涨紧轮发生位移,改变履带式机器人的行走姿态。


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    Title :

    Walking mechanism and walking control method of tracked robot


    Additional title:

    一种履带式机器人的行走机构及行走控制方法


    Contributors:
    LI QINGFENG (author) / LU WENQUAN (author) / PENG TAO (author) / QU MING (author) / WANG ZHONGLUN (author)

    Publication date :

    2025-01-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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