CLIMBING METHOD FOR A LARGE STEP WITH DOUBLE TRACK MECHANISM AND STRUCTURE OF MOBILE PLATFORM FOR IRREGULAR TERRAIN

摘要

A climbing method for a stepped part using a double caterpillar and a traveling mechanism for uneven terrain is provided to climb up a stepped part which is higher than the length of an auxiliary caterpillar device by rotating an auxiliary caterpillar device downward and lifting up a main caterpillar device on the stepped part. The climbing method for a stepped part using a double caterpillar comprises the steps of equipping a main caterpillar device with caterpillars and an auxiliary caterpillar device, placing the rotation center of the auxiliary caterpillar device on a location having deflection after leaving a space from the front of the main caterpillar device, rotating the auxiliary caterpillar device downward and lifting up the main caterpillar device on a stepped part to climb on the stepped part which is higher than the length of the auxiliary caterpillar device. The traveling mechanism for uneven terrain contains: a main caterpillar device comprising a main caterpillar roller driving motor installed to the inside to transfer power to the main caterpillar device, a main caterpillar driving roller installed to the inside of a frame coupled with the main caterpillar roller driving motor, and a driven roller receiving power from a main caterpillar belt which transfers power of the main caterpillar driving roller; and auxiliary caterpillar device comprising an arm coupled with a rotary shaft and rotated by an arm rotating device, an auxiliary caterpillar roller driving motor installed to the inside of the arm to supply driving force, an auxiliary caterpillar driving roller installed on the front of the auxiliary caterpillar device and an auxiliary caterpillar driven roller receiving power from an auxiliary caterpillar belt which transfers power of the auxiliary caterpillar driving roller.