Transforming multi-wheel all-terrain robot walking mechanism

Abstract

The invention discloses a transforming multi-wheel all-terrain robot walking mechanism. The robot walking mechanism comprises a plane wheel type walking mechanism, the plane wheel type walking mechanism comprises a rack and four walking wheels, and the four walking wheels are divided into two sets, and two sets of the walking wheels are symmetrically mounted below the rack respectively; each walking wheel is connected with a driving motor, the output shafts of the driving motors are connected with rotation shafts of the walking wheels through bearings, and the robot walking mechanism further comprises a transforming wheel type mechanism and a transforming supporting mechanism. According to the robot walking mechanism, the transforming wheel type mechanism is arranged at the front end of the plane wheel type walking mechanism, so that the shortages are overcome that a traditional plane wheel type walking mechanism cannot walk on complex terrains such as steps, stairs, ravines and steep hills, and the robot walking mechanism has the advantages of low weight, good maneuverability property and good flexible turning performance; the transforming supporting mechanism is arranged at the back end of the rack to further achieve transforming and lifting, so that the robot walking mechanism is suitable for complex terrains such as stairways, ravines, steep hills and high platforms, and has the advantages that the robot walking mechanism transforms flexibly, is low in weight and swerves flexibly.

Description

technical field [0001] The invention relates to a robot part, in particular to a deformed multi-wheel all-terrain robot walking mechanism, which belongs to the technical field of robot manufacturing. Background technique [0002] With the development of science and technology, robots are gradually being applied in various fields. For example, the application of engineering robots in disaster search and rescue, patrol and reconnaissance, anti-terrorism and stability maintenance, battlefield rescue and logistics support can play a huge role. Currently on the market, the walking mechanism of engineering robots mostly adopts wheel type or crawler type. The crawler-type traveling mechanism has a strong ability to overcome obstacles, but the crawler-type traveling mechanism has defects such as bulky body, slow walking speed, difficulty in turning, and poor maneuverability. The other is the wheeled walking mechanism, which is generally composed of four walking wheels, and has the...

AI Technical Summary

Problems solved by technology

The walking mechanism mainly relies on the four-wheel mechanism, and the flip arm mechanism plays the role of auxiliary movement and deformation of the mechanism. The variability in the shape of the mechanism makes it have four-wheel, crawler-like, extended six-wheel and other forms, and has both wheel and crawler walking. The mechanism has the advantages of light weight, flexible movement, fast speed, and all-terrain adaptability, but the structure of the walking mechanism is relatively complicated, and there are defects of high production cost, large volume, and inflexible deformation

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