Wheel-type linked barrier-crossing traveling mechanism

Abstract

The invention relates to a wheel-type linked barrier-crossing traveling mechanism capable of automatically adjusting according to the topographic situation. The wheel-type linked barrier-crossing traveling mechanism is composed of at least one traveling wheel and barrier-crossing connecting rods at the edges of the wheels, wherein the diameters of the wheels are equal; location holes are arranged on the wheels and the barrier-crossing connecting rods; the wheel is connected with the barrier-crossing connecting rod by a movable pin through the location holes; the position of the location hole on the wheel is necessary to be close to the circumference of the wheel to a large extent; the distances from the location hole of each wheel to the axial hole of each wheel is necessary to be consistent; and the axial hole of the wheel is connected with a drive shaft of a power drive device. When traveling on the flat ground, the barrier-crossing traveling mechanism is in round-wheel traveling, and is the same with the traveling of the common wheel-type traveling mechanism, when the barrier-crossing traveling mechanism meets barriers, the barrier-crossing connecting rod can be placed on the barrier, thus the wheel can cross the barrier with the help of the support action of the connecting rod. The barrier-crossing traveling mechanism is high in efficiency, high in reliability and concise in mechanism, has stronger barrier-crossing ability, and can be used in mobile devices, such as mobile robots, barrier-crossing vehicles and the like which need to travel on unsmooth ground.

Description

technical field [0001] The invention belongs to the field of mobile robots, obstacle-crossing vehicles and obstacle mechanisms, and in particular relates to an obstacle-crossing walking mechanism capable of self-adapting to obstacles. Background technique [0002] With the rapid development of many fields such as my country's exploration and rescue, aerospace, fire-fighting and detonation, nuclear energy industry, military reconnaissance, etc., there is an urgent need for a device that can walk freely and overcome obstacles in field environments and complex terrains (such as mine disaster sites and earthquake ruins). mobile devices, such as robots, rovers, etc. The walking mechanism of existing mobile equipment can be roughly divided into: wheel type, crawler type, multi-legged type, hybrid type (such as wheel-shoe hybrid type, wheel-leg hybrid type) and special forms (such as serpentine sliding type, polygonal tumbling type) Mode). Among them, most of the multi-legged and ...

AI Technical Summary

Problems solved by technology

Among them, most of the multi-legged and special forms belong to the bionic walking mechanism, which has a strong ability to overcome obstacles and adapt to the terrain. However, the mechanical structure of these two types of walking mechanisms is complex, the control is extremely difficult, and the mobility is relatively poor. In the early stages of research and development applications

After more than 100 years of development, the track has been proved to be a walking mechanism that can adapt to complex terrain and harsh environments, but its shortcomings are also obvious: bulky, requiring high-power drives, therefore, there are strict restrictions on portable or power Tracks are not suitable for mobile devices

Wheels appeared as early as more than 3,000 years ago, and are considered to be the walking mechanism with the highest energy conversion efficiency. The advantages of lightness, simplicity, high speed, high efficiency, and simple control of wheels make them enduring. It is powerless when dealing with complex terrain

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