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A polygonal wheel for ground robots

A robot and corner wheel technology, applied in the direction of wheels, transportation and packaging, vehicle parts, etc., can solve the problem of not effectively improving the ability of wheels to overcome obstacles, and achieve the effect of simple structure and convenient switching

Inactive Publication Date: 2017-10-24
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, this method does not effectively improve the wheel's ability to overcome obstacles

Method used

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  • A polygonal wheel for ground robots
  • A polygonal wheel for ground robots

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Embodiment Construction

[0012] In order to make the objectives, technical solutions and advantages of the present invention clearer, the following will further describe the embodiments of the present invention in detail with reference to the accompanying drawings, but it is not intended to limit the present invention.

[0013] Such as figure 1 with figure 2 As shown, a polygonal wheel for ground robots includes a polygonal hub 1, a driven bevel gear 2, a screw 3, a connecting rod 4, a nut 5, a foot rod 6 and a driving bevel gear 7.

[0014] The polygonal hub 1 is an N-point star-shaped frame, which supports the entire wheel. The travel motor reducer can be connected to the center of the polygonal hub to drive the wheel to rotate (the driving method is not an invention, so it is not shown in the figure). Each corner tip 101 of the N-point star is semicircular.

[0015] The driven bevel gear 2 is fixed at one end of the screw 3, and each screw 3 is fixed on a corner of the polygonal hub 1 through a bearing ...

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Abstract

The invention discloses a polygonal wheel device for a ground robot. Including polygonal hub, driven bevel gear, screw rod, connecting rod, nut, foot rod and driving bevel gear. The polygonal hub supports the whole wheel, the driven bevel gear is fixed on one end of the screw rod, and the screw rod is fixed on one corner of the polygonal hub through a bearing bracket. The screw rod and the nut are threaded, one end of the connecting rod is connected with the nut through a hinge, and the other end is connected with the middle part of the foot bar through a hinge. The foot bar is hinged to the semicircular end of the tip of the polygonal hub. Nut, connecting rod and foot rod constitute crank slider mechanism. When walking on flat ground, polygonal wheels work like ordinary round wheels. When it is necessary to climb up the steps, the driving bevel gear is driven to rotate, so that the driven bevel gear drives the screw to rotate, so that the nut approaches the center of the circle, and drives the connecting rod and the foot rod to draw in the corners of the polygonal hub. At this time, only the tip of the polygonal hub is in contact with the ground and obstacles, and its semicircular structure is conducive to climbing up obstacles.

Description

Technical field [0001] The invention relates to a walking mechanism, in particular to a polygonal wheel for ground robots. Background technique [0002] The ability to climb stairs is an important criterion to measure the ability of ground robots to overcome obstacles. For example, in a building, being able to go up and down the stairs means being able to reach any place in the building. Crawler-type robots have strong ability to overcome obstacles and can even go up and down stairs. However, when traveling on complex ground such as gravel, mud, ice, snow, and grass, the crawler is easily blocked, entangled, and invalidated. Moreover, the crawler drive increases the complexity of the walking mechanism and increases the weight of the robot. Relatively speaking, wheeled robots are not easy to adhere to stones and cinders, so they are not easy to be blocked, but their disadvantage is that they can only climb steps whose height is much smaller than the diameter of the wheels. As a...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60B19/00
Inventor 高峻峣赵方舟赵靖超李鑫徐喆曹浩翔刘轶石选阳陆豪健
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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