CATERPILLAR SYSTEM FOR MOVING ON CURVED AREA

摘要

PURPOSE: A caterpillar system for movement of a working robot on a curved surface is provided to keep the working unit balanced by coping with the unevenness of a travel path. CONSTITUTION: A caterpillar system for movement of a working robot on a curved surface comprises a caterpillar body(2), driving wheels(8), a load dispersion link A(3), a load dispersion link B(4), a load bearing roller(7), and a caterpillar belt(1). The driving wheels are installed on side front and rear ends of the caterpillar body and rotate to operate the caterpillar belt. The load dispersion link A is connected to the bottom center of the caterpillar body by a revolute joint and supports the caterpillar body. The load dispersion link B is connected to the front and rear ends of the load dispersion link A by a revolute joint and supports the load dispersion link A. The load bearing roller rotates along with the caterpillar belt to help smooth driving of the caterpillar belt. The caterpillar belt surrounds the caterpillar body, the driving wheels, the load dispersion link A and B, and the load bearing roller and travel by the rotation of the driving wheels.