Wheel and leg transformation device

Abstract

The invention provides a wheel and leg transformation device and belongs to the technical field of mechanism design. The wheel and leg transformation device comprises a wheel thigh, a wheel shank anda wheel and leg transformation driving device; the wheel thigh is of an eudipleural structure; a wheel and leg transformation driving device mounting groove is formed in the middle part of the wheel thigh; pin shaft III mounting holes I are symmetrically formed in the left and right sides of the lower part of the wheel thigh and used for being connected with the wheel shank; the wheel and leg transformation driving device comprises a driving motor, a bearing seat I, a driving gear, a driven gear, a leadscrew, a nut slide block, a bearing seat II and a wheel and leg transformation driving connecting rod component; and the wheel shank comprises an electric push rod, a connecting plate, a hub plate I, a hub plate II, a hub plate III, a supporting rod, a supporting sleeve I, a supporting sleeve II and a wheel foot. The wheel and leg transformation device has the advantages of large wheel diameter size, simple wheel and leg structure, simple transformation driving device and easy manufacturing; when the wheel and leg transformation device is transformed into a wheel structure, the diameter of the wheel structure is larger, and the road surface adapting ability is higher; and when the wheel and leg transformation device is transformed into a leg structure, the leg length is larger, and the obstacle climbing ability is higher.

Description

technical field [0001] The invention relates to the technical field of mechanism design, in particular to a wheel-leg conversion device. Background technique [0002] The wheel-shaped structure can move quickly on flat roads, but it is difficult to move in rough and complex environments, so the wheel-shaped structure has poor terrain adaptability; while the leg-shaped structure has good terrain adaptability, which can not only walk on flat roads, but also Able to walk in rough terrain environment, but its walking 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 composite structures that can realize the mutual conversion between the wheel-shaped structure and the leg-shaped structure. Two patents with application numbers 201710421366. When the wheel-leg structure is deformed into a leg-shaped structure, three outriggers protrude from each wheel,...

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Problems solved by technology

[0002] The wheel-shaped structure can move quickly on flat roads, but it is difficult to move in rugged and complex environments, so the wheel-shaped structure has poor terrain adaptability; while the leg-shaped structure has good terrain adaptability, it can walk on flat roads and Able to walk on rough terrain, but at a relatively slow speed

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 composite structures that can realize the mutual conversion between the wheel-shaped structure and the leg-shaped structure. Two patents with application numbers 201710421366. When the wheel-leg structure is deformed into a leg-shaped structure, three outriggers protrude from each wheel, which takes up a lot of space, the leg length is short, and the ability to overcome obstacles is poor; the wheel-leg structure disclosed in the patent application number 201710271962.4 is deformed into a leg-shaped structure When the wheel-leg structure is transformed into a leg-shaped structure, the leg length is longer, the load-carrying capacity is greater, and the obstacle-crossing ability is stronger. , but the structure is complicated, there are many transmission parts, and the manufacture is difficult; therefore, in the published wheel-leg structure literature, there are problems such as short leg length, poor obstacle-crossing ability, complex structure, and difficult manufacture.

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