Wheel-crawler composite deformation wheel

Abstract

The invention discloses a wheel-crawler composite deformation wheel which comprises a main wheel device and a crawler device. The main wheel device comprises a wheel disc assembly and two extension arms which are arranged on the two sides of the wheel disc assembly correspondingly. The wheel disc assembly comprises an outer wheel disc, an inner wheel disc, a spindle, a spindle sleeve, a fixing plate, an outer gear, an outer transmission gear, an inner gear, an inner transmission gear and a gear transmission shaft. Each extension arm comprises an expanding arm, an expanding arm auxiliary wheel,an electric push rod base fixing shaft, an expanding arm fixing shaft, an expanding arm main wheel and an electric push rod. The crawler device comprises a TV-shaped rubber crawler, springs and crawler supporting shafts. The TV-shaped rubber crawler is composed of 36 sections of TV crawler units which comprise T-shaped structural units, V-shaped structural units and spring fixing plates. According to the wheel-crawler composite deformation wheel, the comprehensive moving efficiency of a robot under the complex road condition is improved, and the passing performance and the cruising ability ofthe robot are both greatly improved.

Description

technical field [0001] The invention relates to the technical field of robot walking mechanisms, in particular to a wheel-track composite deformation wheel. Background technique [0002] At present, there are two main types of structures for the robot walking mechanism commonly used: wheel structure and crawler structure. The wheel structure has the advantages of fast moving speed, simple structure, convenient control, and flexible movement. However, this structure is highly dependent on the ground and is not suitable for overcoming obstacles. The contact area and obstacle-crossing performance are very good, and it is suitable for all kinds of complex terrains. The disadvantage is that it is slow, bulky, inflexible in movement, and consumes a lot of energy, which is very expensive. [0003] Some special operation robots, such as disaster rescue robots, working condition inspection robots, etc., due to special application occasions and functional requirements, not only requi...

AI Technical Summary

Problems solved by technology

The wheeled structure has the advantages of fast moving speed, simple structure, convenient control, and flexible movement. However, this structure is highly dependent on the ground and is not suitable for overcoming obstacles. The contact area and the obstacle-crossing performance are very good, and it is suitable for all kinds of complex terrains. The disadvantage is that the speed is slow, the shape is bulky, the movement is not flexible, and the energy consumption is high, which is very power-consuming.

[0003] Some special operation robots, such as disaster rescue robots, working condition inspection robots, etc., due to special application occasions and functional requirements, not only require the robot to have good off-road performance, but also require the robot to move flexibly and have a guaranteed battery life. It is a difficult problem for the walking mechanism. Neither the wheeled structure nor the crawler structure can take into account the robot's off-road performance and work efficiency.

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