Deforming wheel mechanism for stair climbing robot

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...

AI Technical Summary

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.

Images