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Rocker sliding block type wheel-track form reconfigurable walking mechanism

A walking mechanism, rocker slider technology, applied in the directions of manipulators, motor vehicles, tracked vehicles, etc., can solve the problems of low overall structural reliability, bulky, complex structure, etc., to achieve wheel/track switching movement, flexible movement , the effect of simple implementation

Inactive Publication Date: 2020-06-02
YANSHAN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] With the needs of various complex environments, various wheel-track composite wheels and wheel-track conversion robots have emerged, while some mobile robots are large in size and complex in structure, and their strength is low during and after the deformation of the wheel / track. Low reliability of the overall structure

Method used

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  • Rocker sliding block type wheel-track form reconfigurable walking mechanism
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  • Rocker sliding block type wheel-track form reconfigurable walking mechanism

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Embodiment Construction

[0050] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0051] The purpose of the present invention is to provide a rocker-slider type reconfigurable walking mechanism with high stability and short wheel / shoe deformation time. Its implementation method is simple and its reliability is high. Rescue robot fast moving mechanism.

[0052] In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunctio...

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Abstract

The invention discloses a rocker sliding block type wheel-track form reconfigurable walking mechanism. The walking mechanism comprises a main body connecting and supporting component, a power component, a wheel-track component and unfolding mechanisms. When the unfolding mechanism is completely unfolded, the stability is good, the rocker sliding block type wheel-track form reconfigurable walking mechanism has the advantage of flexible movement and can realize wheel / track switching movement; a reconstruction assembly comprises two deformation mechanisms which are symmetrically arranged about the longitudinal symmetry plane, the two unfolding mechanisms are similar in structure, the two deformation mechanisms are connected with the outer wheel connecting piece and the center connecting piecethrough revolute pairs and the machine body respectively, and rapid switching of the wheel / track movement forms of the walking mechanism can be achieved through folding and unfolding deformation of the two deformation mechanisms. The rocker sliding block type wheel-track form reconfigurable walking mechanism is high in stability and can be applied to a post-disaster rescue reconnaissance and exploration robot and a rapid rescue moving mechanism.

Description

technical field [0001] The invention relates to the technical field of reconfigurable wheel / shoe deformation mechanism, in particular to a rocker slider type reconfigurable walking mechanism of wheel and shoe form. Background technique [0002] With the rapid development of robot technology, mobile robots have been widely used in industrial sites in various fields. The application range of mobile robots has been greatly expanded, not only in industry, agriculture, medical treatment, service and other industries, but also in harmful and dangerous situations such as urban security, national defense and space detection. Faced with some complex workplaces, the ground environment is relatively complex and unpredictable unstructured environment, which puts forward higher requirements for the environmental adaptability, movement flexibility and obstacle-surmounting ability of the mobile mechanism itself. [0003] Traditional wheel / shoe mobile robots mostly adopt structures such as...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D55/04B25J5/00
CPCB25J5/005B25J5/007B62D55/04
Inventor 赵永生张硕马辰昊朱海啸刘自胜姜泽姚建涛许允斗
Owner YANSHAN UNIV
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