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

A technology of telescopic wheels and telescopic legs, which is applied in the field of multi-claw telescopic wheel obstacle surmounting mechanism and its control mechanism, can solve the problems of poor flexibility, poor control technology realizability, poor adaptability, etc., and achieve the effect of improving working intensity

Inactive Publication Date: 2016-04-13
JINZHONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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 perf

Method used

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

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Embodiment Construction

[0023] as attached figure 1 ~ attached Figure 4 As shown, the multi-claw telescopic wheel obstacle surmounting mechanism of the present invention includes a small bevel gear 1, a large bevel gear 2, a screw 3, a circular sleeve 4, a fixed wheel 5, a movable wheel 6, telescopic legs 7, and supporting legs 8 , slider 9 and buffer device 10, one end of the screw 3 is fixed with a small bevel gear 1 and is located outside the circular sleeve 4, the other end of the screw 3 extends into the circular sleeve 4 and passes through two screw bearings 11 and The round sleeve 4 is set together, and the middle part of the round sleeve 4 has an axial long hole as the guide groove 12, and the threaded part of the screw 3 corresponds to the position of the guide groove 12 on the round sleeve 4; the round sleeve 4 A large bevel gear 2 is fixed on one end close to the small bevel gear 1, a fixed wheel 5 is fixed on the other end of the circular sleeve 4, and a movable wheel 6 is installed in ...

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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...

Claims

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Application Information

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IPC IPC(8): B62D57/028B62D57/032
CPCB62D57/028B62D57/032
Inventor 刘超孙银魁
Owner JINZHONG UNIV
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