All-terrain composite walking mechanism

Abstract

The invention relates to an all-terrain composite walking mechanism which comprises a caterpillar band and a driving wheel arranged at the middle part of the caterpillar band, and further comprises a drive wheel arranged at a corner of the caterpillar band and meshed with the caterpillar band and driven wheels respectively arranged at other corresponding corners of the caterpillar band, wherein the driving wheel is connected with the drive wheel through a chain and drives the drive wheel to operate. The all-terrain composite walking mechanism further comprises a bracket which is coaxial with the driving wheel and is used for limiting the positions of the drive wheel and the driven wheel. The walking mechanism is in the following two working states during working: a rotating state, in which the driving wheel drives the drive wheel to rotate through the chain and the drive wheel drives the caterpillar band to rotate synchronously, and a revolving state, in which the caterpillar band is connected with the drive wheel to form a whole which cannot operate and the driving wheel drives the whole walking mechanism to turn over overall and cross an obstacle. The walking mechanism disclosed by the invention can adapt to a complicated unstructured terrain and cross a step and a steep hill which have certain heights, and has the function of walking in all terrains and extremely high obstacle crossing capability.

Description

technical field [0001] The invention relates to a walking mechanism suitable for overcoming obstacles and complex unstructured environments, in particular to an all-terrain composite walking mechanism. Background technique [0002] Although circular wheels have the advantages of maneuverability, flexibility, and small required driving force, they also have some problems, such as small contact surface, high contact pressure, and poor obstacle-crossing ability. In the face of complex unstructured environments, such as ground with deep snow, extremely soft soil, deserts, grasslands with high weeds and other terrains, the round wheels are prone to sinking and causing skidding and making it impossible to walk; while for There are raised obstacles, such as rocks, and circular wheels cannot pass; and in structured environments, circular wheels often cannot cross obstacles such as steps (stairs). Contents of the invention [0003] In order to solve the above-mentioned technical p...

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Problems solved by technology

[0002] Although circular wheels have the advantages of maneuverability, flexibility and the required driving force are small, there are also some problems, such as small contact surface, high contact pressure, poor obstacle-crossing ability, etc.

In the face of complex unstructured environments, such as ground with deep snow, extremely soft soil, deserts, grasslands with high weeds and other terrains, the round wheels are prone to sinking and causing skidding and making it impossible to walk; while for There are raised obstacles, such as rocks, and circular wheels will not pass; and in structured environments, circular wheels are often unable to cross obstacles such as steps (stairs)

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