Special-shaped wheel and caterpillar track combined walking mechanism

Abstract

The invention discloses a special-shaped wheel and caterpillar track combined walking mechanism, which comprises a power device, a gear shifting device and a special-shaped wheel. The power device is connected with the special-shaped wheel through the gear shifting device. The special-shaped wheel comprises an equilateral triangle hub, caterpillar track transmission gears which are installed at three corners of the hub, and a drive gear which is installed in the center of the hub. The drive gear is mutually meshed with the three caterpillar track transmission gears. A caterpillar track which is meshed with the caterpillar track transmission gears is installed on the outer circumference of the caterpillar track transmission gears. The special-shaped wheel and caterpillar track combined walking mechanism is integrated with advantages of a circular wheel and a caterpillar track walking mechanism, can overcome relevant disadvantages, can adapt to complex environments and has good mobility.

Description

technical field [0001] The invention relates to a traveling mechanism capable of adapting to complex environments, in particular to a compound traveling mechanism with special-shaped wheels and tracks. Background technique [0002] At present, the running mechanism mostly adopts circular wheel or crawler walking mechanism. [0003] Although circular wheels have the advantages of maneuverability, flexibility, and small required driving force, they also have some problems, such as small contact surface, high contact pressure, and poor obstacle-crossing ability. In the face of complex unstructured environments, such as sandy, muddy or soft ground, it is easy to sink and cause slipping and make it impossible to walk. Or raised obstacles, such as rocks, will also be impassable; and in structured environments, obstacles such as steps (stairs) cannot be crossed. [0004] Although the crawler running mechanism can partially solve the problems of the above-mentioned circular wheels...

AI Technical Summary

Problems solved by technology

[0003] Although circular wheels have the advantages of maneuverability, flexibility and the required driving force are small, there are also some problems, such as small contact surface, high contact pressure, poor obstacle-crossing ability, etc.

In the face of complex unstructured environments, such as sandy, muddy or soft ground, it is easy to sink and cause slipping and make it impossible to walk

Or raised obstacles, such as rocks, are impassable; and in structured environments, obstacles such as steps (stairs) cannot be crossed

[0004] Although the crawler walking mechanism can also partially solve the problems of the above-mentioned circular wheels, it also brings other bigger problems: huge mechanism, heavy body, more power required, poor maneuverability, etc.

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