Wheel-leg switching mechanism

Abstract

The invention discloses a wheel-leg switching mechanism. The wheel-leg switching mechanism comprises a wheel thigh, wheel shanks and a wheel foot; the wheel shanks are installed on the wheel thigh through shank installation shafts, and the wheel foot is installed on one of the wheel shanks through a foot pin shaft; a shank folding and unfolding driving gear of the wheel thigh drives the wheel shanks to be folded or unfolded through multi-stage gear transmission, and switching of the wheel-shaped structure and the leg-shaped structure is achieved; and a wheel leg driving shaft of the wheel thigh rotates or swings, so that rolling traveling of the wheel-shaped structure or gait traveling of the leg-shaped structure is achieved. According to the wheel-leg switching mechanism, switching of the wheel-shaped structure and the leg-shaped structure can be achieved, quick traveling on a flat pavement and a rugged pavement can be achieved, the diameter of the wheel-shaped structure is large and high in pavement adaptability, the leg-shaped structure is high in bearing capacity and small in joint torque, and the wheel legs are adjustable in length and can flexibly walk under various pavement conditions.

Description

technical field [0001] The invention belongs to the field of mechanism design, in particular to a wheel-leg transformation mechanism. Background technique [0002] The wheel-shaped structure is suitable for fast movement on flat roads, but its disadvantage is that it has poor terrain adaptability and is difficult to move quickly in rough and complex terrain environments; while the leg-shaped structure has good terrain adaptability and can move in rough terrain environments , but its movement speed is relatively slow. In order to make full use of the advantages of the wheel-shaped structure and the leg-shaped structure, many scholars have designed a variety of wheel-leg structures. The patent application number is 201210244363.0. The wheel-leg structure adds a walking wheel to the end of the leg-shaped structure. The application number is 201410757019.0 The wheel-leg structure published by the patent adds a walking wheel to the middle position of the leg-shaped structure. Bo...

AI Technical Summary

Problems solved by technology

[0002] The wheel-shaped structure is suitable for fast movement on flat roads, but its disadvantage is that it has poor terrain adaptability and is difficult to move quickly in rough and complex terrain environments; while the leg-shaped structure has good terrain adaptability and can move in rough terrain environments , but its moving speed is relatively slow

In order to make full use of the advantages of the wheel-shaped structure and the leg-shaped structure, many scholars have designed a variety of wheel-leg structures. The patent application number is 201210244363.0. The wheel-leg structure adds a walking wheel to the end of the leg-shaped structure. The application number is 201410757019.0 The wheel-leg structure published by the patent adds a walking wheel to the middle position of the leg-shaped structure. Both wheel-leg structures add walking wheels on the basis of the leg-shaped structure to realize the transformation of the wheel-leg structure. Due to the limitation of the structure The diameter of the walking wheel is generally small, so the road adaptability of the walking wheel is poor, and obstacles such as large ditches and ridges cannot be passed; the wheel-leg structure published in the patent application number 201410315537.7 adopts the structure in which the wheel is deformed into a leg. The larger diameter of the walking wheel makes it better adaptable to the road surface, but after transforming into a leg-shaped structure, the load on the knee joint is very large, which increases the size of the knee joint structure. In addition, the length of the legs cannot be adjusted by telescopic adjustment, so the length of the legs is relatively short. Less ability to cross obstacles

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