一种铰接式履带行走传动装置的设计.docxVIP

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圆园22年第9期网址：电邮：hrbengineer@163.com

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网址：电邮：hrbengineer@163.com圆园22年第9期

一种铰接式履带行走传动装置的设计

乔曙光，董存贤

（沈阳新松机器人自动化股份有限公司，沈阳110168）

摘要：提出了一种用于排爆机器人底盘的铰接式履带行走传动装置，论述了其结构组成、齿形设计及强度计算方法。其结构简单、传动能力大、质量轻、制造成本低，便于整机轻量化设计，也为推广应用提供了理论基础。

关键词：铰接式履带；行走传动装置；结构组成；齿形设计；强度计算

中图分类号:TH132.4;TP242.3;TH123.3 文献标志码:粤 文章编号：员园园圆原圆猿猿猿（圆园22）09原园160原园4

DesignofanArticulatedCrawlerWalkingTransmissionDevice

QIAOShuguang, DONGCunxian

（ShenyangSIASUNRobotAutomationCo.,Ltd.,Shenyang110168,China）

Abstract:Aarticulatedcrawlerdrivingdeviceforthechassisofexplosivehandlingrobotisproposed,anditsstructure,toothshapedesignandstrengthcalculationmethodarediscussed.Ithassimplestructure,largetransmissioncapacity,lightweightandlowmanufacturingcost,whichisconvenientforlightweightdesignandapplicationpromotionofthewholemachine,andalsolaysatheoreticalfoundationforpromotion.

Keywords:articulatedcrawler;walkingtransmissiondevice;structurecomposition;toothshapedesign;strengthcalculation

0引言

履带式移动底盘具有众多优点[1-2]，而被排