Synchronous telescopic deformation type track leg composite traveling device

Abstract

The invention discloses a synchronously telescopic and deformable wheel-track-leg compound walking device, which comprises a wheel rim, a traveling drive mechanism and a deformed wheel component. The outer side of the wheel rim is wrapped with crawler belts. The supporting screw rod, the deformation motor is located in the middle of the rim, and the nut joint is installed on the supporting screw rod through thread fit, and the nut joint is in contact with the rim to form a linkage support, and the supporting screw rod passes through the transmission part It is connected with the output end of the deformation motor and rotates under the drive of the deformation motor. During the rotation of the support screw, the nut joint will translate on the support screw to change the shape of the rim. The invention has the advantages of simple and compact structure, flexible movement mode, strong terrain adaptability and the like.

Description

technical field [0001] The invention mainly relates to the field of machine walking devices, in particular to a synchronous telescopic and deformed wheel-foot-leg compound walking device, which is especially suitable for mobile robots, engineering vehicles and other fields. Background technique [0002] As we all know, small ground mobile robots used for dangerous operations such as fires, mine disasters, and nuclear leaks have become another hot spot in the field of mobile robot research due to their small size, low cost, strong survivability, and flexible movement. The most basic walking modes of mobile robots are wheeled, crawler and legged. Among them, the wheeled structure runs smoothly, high speed and high efficiency, but its ability to overcome obstacles and adapt to complex terrain is very limited; the grounding ratio of the crawler walking device is The pressure is small, and it can adapt to soft terrain such as sandy soil and mud, but it also has the disadvantages ...

AI Technical Summary

Problems solved by technology

[0006] 2. Due to the restriction on the change rule of the length of the telescopic rod, the position of the support point of the telescopic rod on the rim is far from the stress point of the rim, which can be obtained by calculation, which leads to the support of the "X" spokes on the rim The effect is not good, that is, the force performance of the rim structure of the rim is not good

[0007] 3. The "X" type spokes use telescopic rods, including sliding pairs. When the sliding pairs are closely matched, it is easy to cause jamming, and the expansion and contraction is not flexible, making the deformation unreliable; when the sliding pairs are loosely matched, the gap between the moving pairs Larger, so that the shaking of the telescopic rod is large, resulting in an increase in the empty space of the entire rim structure, that is, the rim cannot maintain a circular shape, which will reduce the motion accuracy and structural reliability

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