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Variable-diameter wheel leg combined wheel structure

A composite wheel and wheel leg technology, which is applied in the direction of wheels with shovel-shaped grip teeth, can solve the problems of poor obstacle-crossing ability and unsuitability of robots, and achieve the effect of fast moving speed, easy adaptability and stable action

Inactive Publication Date: 2011-07-27
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, because the shape of the traditional driving wheel of a wheeled robot is just a simple ring, it is not suitable for crossing obstacles such as ravines, steps, stairs, etc., which makes the overall mobile robot's ability to overcome obstacles poor.
When encountering a soft sandy environment or a multi-obstacle gravel environment, the various design ideas of traditional wheels have faced great challenges

Method used

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  • Variable-diameter wheel leg combined wheel structure
  • Variable-diameter wheel leg combined wheel structure
  • Variable-diameter wheel leg combined wheel structure

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Embodiment Construction

[0026] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0027] Such as figure 1 Shown is a schematic diagram of a wheel structure with a pair of coaxial hubs, each wheel structure includes a pair of hubs 1, the hubs 1 are connected by a wheel shaft, at least four spokes are arranged on the hub 1, and the end of each spoke is connected to the rim 2. The rim 2 is controlled by the driving steering gear 3 to rotate 0-120° in the plane of the hub 1, so as to realize the conversion of the wheel structure between the rim and no rim. The driving steering gear 3 is connected between the two hubs 1 through a fixed splint 4 . The following describes the specific connection relationship with the situation that each wheel hub 1 has six rims 2:

[0028] Each wheel structure has a pair of coaxial hubs 1, the two hubs 1 have the same structure, and three evenly distributed wheel shaft fixing holes 101 are respectively arranged...

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Abstract

The invention discloses a variable-diameter wheel leg combined wheel structure, which comprises a pair of wheel hubs. The two wheel hubs are of identical structures, the central discs of the wheel hubs are provided with spokes on the circumferences thereof, the two planes with the wheel hubs are parallel to each other, the wheel hubs are connected through a wheel shaft for synchronous movement and are provided with at least four spokes, the output shaft or transmission shaft of a driving steering engine at the terminal of each spoke is connected with a flange through a fastening screw, and the flanges are connected in sequence to form a flanged wheel structure of a round wheel structure and are controlled through the steering engine so as to rotate for 0-120 degree(s) around the output shaft or transmission shaft of the steering engine within the planes of the wheel hubs, thereby realizing the overall or local switching of the wheel structure between the flanged wheel and the non-flanged wheel. The wheel leg combined wheel structure of the invention combines the advantages of the wheel mechanism and the leg mechanism, and has the advantages of high moving speed, stable movement and high barrier-crossing capability; and since the overall or local switching between the flanged wheel and the non-flanged wheel can be realized, the wheel leg combined wheel structure can adapt to a variety of terrains more easily.

Description

technical field [0001] The invention belongs to the technical field of robot application, and relates to a wheel structure, in particular to a compound wheel structure with variable diameter wheels and legs. Background technique [0002] Wheeled robots are widely used because of their simple structure, high speed and low energy consumption. However, because the traditional driving wheel shape of a wheeled robot is just a simple ring, it is not suitable for crossing obstacles such as ravines, steps, stairs, etc., which makes the overall mobile robot's ability to overcome obstacles poor. When encountering a soft sand environment or a multi-obstacle gravel environment, the various design ideas of traditional wheels have faced great challenges. In order to adapt to complex terrain environments and special applications, various driving wheels that are different from conventional circular structures have emerged as the times require. [0003] As a driving wheel different from th...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60B15/10
Inventor 刘荣赵霄洋何俊虎王珂
Owner BEIHANG UNIV
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