Multi-claw retractable wheel obstacle-negotiation mechanism and control mechanism thereof

Abstract

The invention discloses a multi-claw retractable wheel obstacle-negotiation mechanism and a control mechanism thereof, belongs to the field of mobile obstacle-negotiation robot walking mechanisms and provides an obstacle-negotiation mechanism with a concise expanding, retracting and rotating structure and a control mechanism of the obstacle-negotiation mechanism. The technical scheme is that a bevel pinion is fixed at one end of a lead screw, the other end of the lead screw extends into a round bush, and an axial long hole is formed in the middle of the round bush and is taken as a guiding groove; a large conical gear is fixed at one end, close to the bevel pinion, of the round bush, a fixed disc is fixed at the other end of the round bush, and a movable disc is movably mounted in the middle of the round bush in a sleeving manner; a sliding block is fixed on a screw nut of the lead screw and connected with the movable disc through a sliding block bolt; at least three retractable legs are uniformly distributed and hinged in the circumferential direction of the movable disc, supporting legs in one-to-one correspondence with the retractable legs are uniformly distributed and hinged in the circumferential direction of the fixed disc, and each supporting leg is hinged with the middle of the corresponding retractable leg. The multi-claw retractable wheel obstacle-negotiation mechanism and the control mechanism thereof are suitable for the fields of disaster relief, rush emergency, ecological monitoring, outdoor exploration, military matters and the like.

Description

technical field [0001] The multi-claw telescopic wheel obstacle surmounting mechanism and its control mechanism of the present invention belong to the technical field of walking mechanism and control of mobile obstacle surmounting robots. Background technique [0002] In modern society, obstacle-climbing mechanism and its control technology have a wide range of application fields, especially suitable for unconventional places such as uneven ground, criss-crossing obstacles, and complex and harsh environments. For example, on-site monitoring, inspection, maintenance and repair of nuclear power facilities, if the staff directly participate in the on-site operations, they will undoubtedly be harmed by radiation. The obstacle-climbing mechanism and its control technology can also be applied to fields such as disaster relief, ecological monitoring, field exploration, and military affairs. [0003] At present, the research results of obstacle-crossing mechanisms at home and abroa...

AI Technical Summary

Problems solved by technology

Among them, the wheel type has the highest efficiency, but its adaptability to the environment is poor; while the leg-foot type has the strongest adaptability to the environment, but its control technology is currently less achievable; the crawler type has good climbing performance and Certain obstacle-crossing ability, but the obstacle-crossing efficiency and speed are low, and the flexibility is poor; the composite method takes into account the advantages and disadvantages of various methods, but its structure and control process are complex

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