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A wheel-leg compound walking device

A walking device and wheel-leg technology, applied in the field of wheel-leg composite walking devices, can solve problems such as complex structure and achieve the effect of improving stability

Active Publication Date: 2020-12-15
BEIJING UNIV OF CIVIL ENG & ARCHITECTURE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] At present, there are many kinds of deformable robot mechanisms on the market. Although the changeable styles are rich, the structure is too complex and cannot complete the movement of some simple structured terrains. Therefore, it is necessary to design a robot that can adapt to simple and complex terrains.

Method used

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  • A wheel-leg compound walking device
  • A wheel-leg compound walking device
  • A wheel-leg compound walking device

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Embodiment Construction

[0018] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0019] figure 1 - Figure 3 shows some embodiments according to the invention.

[0020] In one embodiment, as figure 1 As shown, a wheel-leg compound walking device includes: a gear ring 20 and three walking legs 10, wherein each walking leg 10 includes a gear 1, a first motor 2, a drive wheel bracket 3, a telescopic rod 4, Wheel frame 5, road wheel 7, and second motor 6.

[0021] Specifically, such as figure 1 , 2 As shown, the first motor 2 is fixed on the outside of the drive wheel bracket 3, the first motor 2 and the gear 1 are driven through a key, and the gear 1 is supported on the drive wheel bracket 3 by a pin to rotate, wherein the drive wheel bracket 3 It is a U-shaped block stru...

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Abstract

The invention discloses a wheel and leg combined walking device which comprises a gear ring and three walking legs arranged on the gear ring. Each walking leg comprises a driving wheel support, a gear, a first motor, a telescopic rod, a wheel frame, a walking wheel and a second motor, wherein the first motor is arranged on the driving wheel support and used for driving the gear, ad the second motor is arranged on the wheel frame and used for driving the walking wheel. Two of the three walking legs are in a walking state, and the third walking leg is in an obstacle crossing backup state on thegear ring. The wheel and leg combined walking device can advance on a smooth road when the walking wheels roll; when the walking device encounters an obstacle, a control part of the device controls the first motors and the telescopic rods on the walking legs in cooperation, the aim of crossing the obstacle is realized, and the moving stability of the wheel and leg combined walking device is improved.

Description

technical field [0001] The invention relates to the field of robot walking devices, in particular to a wheel-leg composite walking device. Background technique [0002] At present, there are many kinds of deformable robot mechanisms on the market. Although the changeable styles are rich, the structure is too complex and cannot complete the movement of some simple structured terrains. Therefore, it is necessary to design a robot that can adapt to simple terrains and complex terrains. . Contents of the invention [0003] In order to overcome the defects of the prior art, the purpose of the present invention is to provide a wheel-leg compound walking device, which can achieve the purpose of overcoming obstacles. [0004] For this reason, the present invention proposes a wheel-leg composite walking device, which includes a gear ring and three walking legs arranged on the gear ring, and the walking legs include: a drive wheel bracket, a gear, a first motor, a telescopic rod, a...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/028
Inventor 秦建军高磊李鑫磊黄梦雨林键路可欣
Owner BEIJING UNIV OF CIVIL ENG & ARCHITECTURE
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