A wheel-leg composite obstacle-surpassing walking mechanism
A walking mechanism and composite technology, which is applied in the field of wheel-leg composite obstacle-crossing walking mechanism, can solve problems such as complex control, inflexible wheel-leg conversion, and complex structure.
Inactive Publication Date: 2016-10-26
马鞍山小船信息科技有限公司
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Problems solved by technology
The existing wheel-leg compound walking system has problems such as complex structure, inflexible wheel-leg conversion, and complicated control, which still needs further improvement
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[0010] figure 1 It is a structural schematic diagram of the wheel-leg compound obstacle-surpassing walking mechanism of the present invention. The power of the motor is transmitted to the two-way end gear ring 7 through the drive gear 1, the left drive shaft 3, the disc-shaped torque sensor 10, and the right drive shaft 4. When the entire traveling mechanism is running normally, under the action of the compression spring 9, the left trapezoidal end ring gear of the two-way end gear ring 7 and the right trapezoidal end ring gear of the first one-way end gear ring 6 mesh with each other, thereby driving the wheels 5 walking; when the whole traveling mechanism runs into an obstacle, if the resistance torque of the wheel 5 measured by the disc torque sensor 10 exceeds a predetermined value, the first annular electromagnetic chuck 11 and the second annular electromagnetic chuck 12 are energized and closed, and under the action of electromagnetic attraction Next, the two-way end gea...
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The invention provides a wheel leg combined type obstacle crossing travelling mechanism, and belongs to the technical field of vehicle travelling. The wheel leg combined type obstacle crossing travelling mechanism comprises a drive gear, a vehicle wheel support, a vehicle wheel, a left drive shaft, a right drive shaft, a first unidirectional end tooth ring, a bidirectional end tooth ring, a second unidirectional end tooth ring, a compression spring, a disk-shaped torque transducer, a first annular electromagnetic chuck, a second annular electromagnetic chuck, a first cylindrical gear, a second cylindrical gear, a rotation arm shaft, a rotation arm box, a first rotation arm gear, a second rotation arm gear, an obstacle crossing shaft, an obstacle crossing rod, a first return spring and a second return spring. According to the wheel leg combined type obstacle crossing travelling mechanism, the bidirectional end tooth ring uses a spline pair to achieve axial movement under action of the disk-shaped torque transducer, the first annular electromagnetic chuck, the second annular electromagnetic chuck and the compression spring, can be meshed with the first unidirectional end tooth ring or the second unidirectional end tooth ring, and then achieves a wheel type travelling function for the whole wheel leg combined type obstacle crossing travelling mechanism on flat ground or achieves a leg type obstacle crossing function for the whole wheel leg combined type obstacle crossing travelling mechanism in front of an obstacle. The wheel leg combined type obstacle crossing travelling mechanism can be used in a travelling system of an obstacle crossing vehicle or robot.
Description
Technical field: [0001] The invention provides a wheel-leg composite obstacle-crossing walking mechanism, which belongs to the technical field of vehicle walking. The walking mechanism can realize the function of wheeled driving on flat ground or legged obstacle surmounting when encountering obstacles, and can be applied to the walking system of obstacle surmounting vehicles or robots. Background technique: [0002] At present, the walking systems of obstacle-crossing vehicles or robots are mainly divided into wheeled, tracked, legged and compound structures. Among them, the wheel-leg compound walking system has the advantages of both the wheel type and the leg type, and is widely used. The existing wheel-leg compound walking system has problems such as complex structure, inflexible wheel-leg conversion, and complicated control, which still needs further improvement. Invention content: [0003] Aiming at the current situation of the wheel-leg compound walking system, the...
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IPC IPC(8): B62D57/028
CPCB62D57/028
Inventor 汪永明叶俊余晓流
Owner 马鞍山小船信息科技有限公司