Deforming wheel mechanism for stair climbing robot

A technology of deformed wheels and robots, which is applied in the directions of wheels, motor vehicles, transportation and packaging, etc. It can solve problems such as difficult to maintain deformed posture, unable to complete ladder climbing, low application value, etc., to solve stability problems and low cost , the effect of increasing value

Inactive Publication Date: 2015-03-25
LANZHOU UNIVERSITY OF TECHNOLOGY
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  • Abstract
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Problems solved by technology

The former only considers some small obstacles. Faced with the continuous obstacles that are very common in practical applications such as stairs, this deformation wheel cannot adapt and cannot complete the task of ladder climbing; the latter uses a hinge connection on the deformation wheel. This kind of deformation wheel is difficult to maintain the deformation posture under the load state. This kind of deformation wheel has the problems of poor stability and low application value in practical applications.

Method used

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  • Deforming wheel mechanism for stair climbing robot
  • Deforming wheel mechanism for stair climbing robot
  • Deforming wheel mechanism for stair climbing robot

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Embodiment Construction

[0007] Such as figure 1 , 2 , 3, the described deformed wheel mechanism for the ladder climbing robot includes 3 sets of identical arc wheels 1, and each set of arc wheels 1 includes an arc tire 2, a curved triangular hub 3, and an outer disk Sliding shaft 4, inner disc rotating shaft 5, described deformation wheel mechanism also includes outer disc 6, inner disc 7, steering gear 8, described curved triangular hub 3 outer edge is provided with L-shaped lap edge 3-a, described curve The outer edge of the triangular hub 3 is provided with an arc-shaped tire 2, and the hub 3 is provided with a sliding groove 3-b and a connecting hole 3-c; the two inner discs 7 are respectively provided with three connecting holes 7-a; the two outer discs 6 are respectively provided with There are three connection holes 6-a.

[0008] The present invention is a deformed wheel mechanism formed by utilizing the kinematic characteristics of the slider crank mechanism. Three outer disk sliding shaft...

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Abstract

A deforming wheel mechanism for a stair climbing robot comprises three sets of identical arc wheels (1). Each set of arc wheel (1) comprises an arc tire (2), a curve triangular hub (3), an outer disc sliding shaft (4) and an inner disc rotary shaft (5). The arc wheels (1) are in sliding connection with outer wheels (6) through the outer disc sliding shafts (4) and are hinged to inner discs (7) through the inner disc rotary shafts (5). The deforming wheel mechanism further comprises a drive element steering engine (8). The outer edge of each curve triangular hub (3) is provided with an L-shaped overlap edge (3-a) and fixedly connected with the corresponding arc tire (2). Each curve triangular hub (3) is provided with a sliding groove (3-b) and a linkage hole (3-c), wherein the three portions of the curve triangular hub (3) are the same in structure. The two inner discs (7) are each provided with three linkage holes (7-a). The two outer discs (6) are each provided with three linkage holes (6-a).

Description

technical field [0001] The invention relates to the technical field of component structure improvement in the step climbing technology of an obstacle-crossing transport vehicle, in particular to a deformation wheel mechanism for a step climbing robot. Background technique [0002] Deformed wheel mechanisms for ladder climbing robots with various structures have been designed at home and abroad, such as the patented "A Deformed Wheel Obstacle Vehicle" (No. CN203753266U) and the patented "Climbing Transport Vehicle" (No. CN202806825U). The former uses the motor to control the rack, so that the two wheels form an angle to achieve obstacle surmounting; the latter drives the hinge four-bar mechanism through the relative movement of the two triangular supports to complete the deformation of the deformation wheel. The former only considers some small obstacles. Faced with the continuous obstacles that are very common in practical applications such as stairs, this deformatio...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/024B60B19/02
CPCB60B19/02B62D57/024
Inventor 李春玲张阳阳杨萍李翠明常明王彦云段红燕张淑珍郑海霞
Owner LANZHOU UNIVERSITY OF TECHNOLOGY
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