Wheel-track-leg compound walking device with rotating and deformed spokes

Abstract

The invention discloses a spoke rotary deformation type wheel-track leg combined walking device. The spoke rotary deformation type wheel-track leg combined walking device comprises a rim, a movement driving mechanism and a deformation wheel part, wherein a track covers the outer side of the rim; the movement driving mechanism comprises a driving mechanism, a track driving wheel and a track driven wheel; the track driving wheel and the track driven wheel are fixed on a fixed wheel frame; the fixed wheel frame is distributed along the radial direction of the rim and two ends of the fixed wheel frame are in contact with the rim to form supporting; a deformation wheel part comprises deformation spokes and a deformation motor; two or more than two deformation spokes are arranged and are crossly distributed and connected to the central position of the rim; two ends of the deformation spokes are located in sliding grooves formed in the rim respectively; the sliding grooves are formed along the peripheral direction of the rim; an output end of the deformation motor is connected with the deformation spokes and is used for driving the deformation spokes to rotate, so as to change an included angle between the adjacent deformation spokes; and the deformation spokes rotate in the sliding grooves so as to change the shape of the rim. The spoke rotary deformation type wheel-track leg combined walking device has the advantages of simple and compact structure, flexible movement manner, strong landform adaption capability and the like.

Description

technical field [0001] The present invention mainly relates to the field of machine walking devices, in particular to a wheel-foot-leg compound walking device in the form of spoke rotation deformation, which is especially suitable for the fields of mobile robots, engineering vehicles and the like. 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 als...

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

Images