Double helical channel cam-driven wheel paddle leg integrated wheel mechanism
A double-helix, drive-type technology, applied in the direction of motor vehicles, transportation and packaging, etc., can solve the problem that wheeled or tracked mobile robots cannot apply to water or soft-structured terrain, hard road unstructured terrain, and restricted applications, etc. problem, to achieve the effect of improving the ability to overcome obstacles, improving transmission efficiency, and simplifying the control system
Inactive Publication Date: 2015-11-04
ZHEJIANG SCI-TECH UNIV
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Problems solved by technology
[0002] Wheels are the mobile carrier of wheeled robots, but traditional wheeled or tracked mobile robots cannot be used in water or soft-structured terrain; traditional underwater robots usually use propellers to drive underwater, and cannot be applied to unstructured hard roads. terrain
Therefore, the current structural characteristics of a single mobile carrier severely restrict its application in complex terrain
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[0017] The present invention will be further described below in conjunction with accompanying drawing.
[0018] Such as figure 1 , figure 2 As shown, the double helical channel cam-driven wheel paddle leg integrated wheel mechanism of the present invention includes a first paddle 1, a first hinge block 2, a second paddle 6, a second hinge block 7, a third paddle 10, The third hinge block 12, the second drive shaft 15, the third drive shaft 16, the paddle central shaft 17, the fourth hinge block 19, the fourth blade 20, the blade connecting sleeve 22, the double helix channel cam 23, the double helix Channel camshaft support frame 24 , wheel rim 25 , first drive shaft 26 .
[0019] The first drive shaft 26 is fixedly connected with the double helical channel cam 23, the double helical channel cam 23 is installed on the double helical channel camshaft support frame 24, and the double helical channel camshaft support frame 24 is fixed to the second drive shaft 15 connection, ...
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The invention discloses a double-spiral-groove-channel cam drive type wheel paddle leg integrated vehicle wheel structure. In the mechanism, a first drive shaft is fixedly connected with a double-spiral-groove-channel cam which is arranged on a double-spiral-groove-channel cam shaft supporting frame, the double-spiral-groove-channel cam shaft supporting frame is fixedly connected with a second drive shaft, a third drive shaft is fixedly arranged on a rim, a paddle center shaft is fixedly connected with a paddle blade connecting sleeve, four paddle blades are hinged to the paddle blade connecting sleeve, four hinge blocks are hinged to the rim, and one paddle blade and one hinge block form a sliding pair. The similar wheel type motion gait, the similar leg type motion gait, the wheel and leg combination type motion gait, the paddle rotating type motion gait, the paddle swing type motion gait and the like of the double-spiral-groove-channel cam drive type wheel paddle leg integrated vehicle wheel structure can be formed, the defect that an existing movable obstacle crossing robot vehicle is poor in adaptive capacity in unstructured terrains and an amphibious environment is overcome, and the terrain adaptation performance of the movable robot vehicle is effectively improved.
Description
technical field [0001] The invention relates to a multi-purpose integrated wheel mechanism with paddle legs and suitable for unstructured terrain, amphibious and other complex terrain environments. Background technique [0002] Wheels are the mobile carrier of wheeled robots, but traditional wheeled or tracked mobile robots cannot be used in water or soft structured terrain; traditional underwater robots usually use propellers to drive underwater and cannot be applied to unstructured hard roads. terrain. Therefore, the current structural characteristics of a single mobile carrier severely restrict its application in complex terrain. In order to ensure that the mobile robot can be used in soft and hard unstructured terrain and amphibious environments, the mobile carrier of the wheeled mobile robot must have a variety of trajectory characteristics to adapt to the complex unstructured terrain environment. Contents of the invention [0003] The purpose of the present inventi...
Claims
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IPC IPC(8): B62D57/00B62D57/028B62D57/04
Inventor 胡明袁伟东陈文华周健周迅冯军章斌撖亚頔
Owner ZHEJIANG SCI-TECH UNIV