Half-wheel-foot type obstacle crossing mechanism and obstacle crossing vehicle

Abstract

A kind of half wheel foot type obstacle mechanism and obstacle vehicle, including main shaft and the inner wheel arm and outer wheel arm rotationally connected on main shaft, the inner wheel arm is equipped with inner half wheel and the inner half wheel drive motor for driving inner half wheel rotation, outer wheel arm is equipped with outer half wheel and the outer half wheel drive motor for driving outer half wheel rotation;Main shaft is equipped with swing arm drive motor for driving inner wheel arm swing, main shaft is also equipped with coaxial reverse mechanism for controlling inner wheel arm and outer wheel arm always reverse motion;The inner half wheel or outer half wheel is equipped with the drive parallel connection device for operating in parallel with inner half wheel and outer half wheel;Formed with the climbing angle α between the inner wheel arm and outer wheel arm for facilitating inner half wheel and outer half wheel climbing;Compared with prior art, by designing two half wheel foot type combined obstacle mechanism, so that the obstacle mechanism load capacity and acceleration ability are completely equivalent to wheel type structure, and obstacle flexibility is close to foot type structure, and can realize the obstacle work of large load under the premise of lightweight itself.

Description

Technical Field

[0001] This invention relates to the field of obstacle crossing mechanism technology, specifically to a half-wheeled foot-type obstacle crossing mechanism and obstacle crossing vehicle. Background Technology

[0002] With the advent of the AI ​​era of autonomous vehicle control, the improvement of vehicles' terrain adaptability has become particularly urgent. However, vehicles that truly have obstacle-crossing capabilities are still far from widespread application.

[0003] Currently, the most common obstacle-crossing structures in existing technologies include wheeled, tracked, and legged types. However, each of these three types of structures has its own shortcomings. For example, none of them can independently complete the traversal of complex terrain as a load-bearing carrier. Among them, wheeled structures have strong load-bearing capacity and fast travel speed, but poor obstacle-crossing ability. They are prone to slipping on mud and cannot overcome steps. Tracked structures have solved the weakness of wheeled structures in terms of poor obstacle-crossing ability, but their structure is too complex, resulting in excessive weight and difficulty in later maintenance. Legged structures are commonly found in current bionic machines such as robots and robot dogs. However, due to the characteristics of legged stride, their load-bearing capacity is generally weak, and their structure is complex and their reliability is not high.

[0004] As a novel structure, the wheel-foot structure combines the advantages of high speed of wheeled structures and flexible movement of footed structures, and has begun to appear in some specific applications. Currently, existing wheel-foot structures include two main forms: full-wheel-foot and half-wheel. However, both of these forms currently have the following obvious drawbacks:

[0005] 1. All-wheeled foot structure: This structure involves directly mounting conventional driven wheels on mechanical feet for movement. While it combines the advantages of high speed of wheeled structures and flexible movement of footed structures, its load capacity is extremely limited. This is because when the legs need to be lifted to overcome obstacles, the entire device loses a support point. Even for quadruped vehicles, the impact of lifting the legs on load capacity and center of gravity is very significant. Therefore, the biggest drawback of this structure is its insufficient load capacity. In addition, to balance balance and load, an additional balancing device is required, making its structure relatively complex.

[0006] 2. Half-wheel structure: This structure uses a half-wheel with drive capability to replace the traditional wheel, combining the rolling forward motion of a wheel with the stepping motion of a leg. Although this structure combines the fast forward motion of a wheel structure with the stepping motion of a leg structure and has good load capacity, it has two obvious drawbacks: a) The stepping motion is limited to the diameter of the half-wheel, lacking the cross-stepping motion of the leg, which greatly limits its obstacle crossing ability and cannot avoid the slippage defect of traditional wheels; b) Low energy efficiency ratio: When the half-wheel is in a suspended state, its drive motor must still run normally. At this time, the motor outputs ineffective power, so the energy efficiency ratio of this structure is only about 50% of that of traditional electric drive.

[0007] Chinese Patent No. CN111976855 discloses a deformable wheel obstacle-crossing robot with a single-drive six-bar linkage, comprising first to fourth single-drive wheels (A, B, C, D), a vehicle body (E), a transmission system (F), and a passive axle (G). The first to fourth single-drive wheels are all single-degree-of-freedom six-bar linkages, symmetrically arranged on both sides of the vehicle body. Each single-drive wheel includes a crank, a short connecting rod, a long connecting rod, an upper half-wheel, and a lower half-wheel. All four single-drive wheels are driven by a motor in the transmission system.

[0008] The aforementioned obstacle-crossing robot is designed with drive wheels of different sizes, consisting of upper and lower half-wheels. However, the upper and lower half-wheels are open, arc-shaped structures. When the robot needs to carry a load over obstacles, the upper and lower half-wheels are prone to deformation under stress, affecting the overall load-bearing obstacle-crossing performance. Summary of the Invention

[0009] The present invention aims to overcome the defects in the prior art and provide a half-wheeled obstacle crossing mechanism and obstacle crossing vehicle that has multiple modes and is suitable for heavy-load obstacle crossing operations.

[0010] To achieve the above-mentioned objectives, the present invention adopts the following technical solution: a half-wheel foot-type obstacle-crossing mechanism, comprising a main shaft and an inner wheel arm and an outer wheel arm rotatably connected to the main shaft. An inner half-wheel and an inner half-wheel drive motor for driving the inner half-wheel to rotate are mounted on the inner wheel arm, and an outer half-wheel and an outer half-wheel drive motor for driving the outer half-wheel to rotate are mounted on the outer wheel arm. A swing arm drive motor for driving the inner wheel arm to swing is provided on the main shaft, and a coaxial reversing mechanism for controlling the inner and outer wheel arms to always move in opposite directions is also provided on the main shaft. A drive parallel connector for parallel operation of the inner and outer half-wheels is installed on either the inner or outer half-wheel. A climbing angle α is formed between the inner and outer wheel arms to facilitate climbing.

[0011] In a preferred embodiment of the present invention, the inner wheel arm and the outer wheel arm are connected to opposite sides of the coaxial reversing mechanism, and the movement direction of the inner wheel arm is always opposite to that of the outer wheel arm.

[0012] As a preferred embodiment of the present invention, the swing arm drive motor drives the inner wheel arm and the outer wheel arm to swing back and forth to form a step frequency. The outer half wheel and the inner half wheel rotate at the same speed, and the rotation speed of the outer half wheel and the inner half wheel corresponds to the step frequency.

[0013] As a preferred embodiment of the present invention, when the inner wheel arm and the outer wheel arm swing to an angle of 0 degrees, the inner half wheel and the outer half wheel are connected by a drive parallel connector, and the inner half wheel and the outer half wheel form a complete wheel structure.

[0014] As a preferred embodiment of the present invention, the drive parallel device includes a housing and a rotating shaft rotatably connected to the housing. The housing is provided with a push-shaft motor that drives the rotating shaft to move axially. The housing is fixedly connected to the inner half wheel or the outer half wheel. The inner half wheel has an inner half wheel rotating shaft corresponding to the rotating shaft in the middle, and the outer half wheel has an outer half wheel rotating shaft corresponding to the rotating shaft in the middle.

[0015] As a preferred embodiment of the present invention, a transmission base is formed on one side of the housing and is rotatably connected to the housing, and a transmission bearing is provided between the transmission base and the housing.

[0016] As a preferred embodiment of the present invention, the transmission base is provided with a transmission block that rotates synchronously with the end of the rotating shaft. The transmission block is rotatably connected to the rotating shaft, and the middle part of the transmission block is rotatably connected to the transmission base. A groove is formed on the inner half wheel rotating shaft or the outer half wheel rotating shaft to engage with the transmission block.

[0017] As a preferred embodiment of the present invention, the push shaft motor is equipped with a slide for driving the rotating shaft to move axially, and the transmission shaft has a ring rib arranged in the radial direction of the transmission shaft, and the slide is clamped on the ring rib.

[0018] As a preferred embodiment of the present invention, the climbing angle α between the inner half-wheel and the outer half-wheel is αmin-αmax, αmin=[arcsin[(Rr) / 2] / L]X2, αmax=[arcsin[(R+r) / 2] / L]X2, the inner half-wheel and the outer half-wheel have the same size, the inner half-wheel drive motor and the outer half-wheel drive motor have the same size, the inner wheel arm and the outer wheel arm have the same length, where R is the radius of the inner half-wheel or the outer half-wheel, r is the motor radius of the inner half-wheel drive motor or the outer half-wheel drive motor, and L is the length of the inner wheel arm or the outer wheel arm.

[0019] An obstacle-crossing vehicle, including a half-wheeled foot obstacle-crossing mechanism.

[0020] Compared with the prior art, the beneficial effects of the present invention are:

[0021] 1. By designing an obstacle-crossing mechanism that combines two half-wheel and foot-type mechanisms, the load-bearing capacity and acceleration capacity of the obstacle-crossing mechanism are completely equivalent to those of a wheeled structure, while the obstacle-crossing flexibility is close to that of a foot-type structure, and it can achieve heavy-load obstacle-crossing work under the premise of being lightweight.

[0022] 2. By replacing the function of the lower leg with a half-wheel, and cooperating with the wheel arm, it can realize the function of a complete mechanical foot, achieving maximum structural simplification, while solving the wheel slippage problem of wheeled structures;

[0023] 3. By designing a drive parallel connector that links the inner and outer half wheels, the inner and outer half wheels rotate synchronously under the action of the drive parallel connector, realizing the parallel operation of the inner half wheel drive motor and the outer half wheel drive motor, effectively maximizing the utilization rate of motor energy output.

[0024] 4. The obstacle crossing mechanism can be switched to all-wheel drive mode, step obstacle crossing mode, or climbing mode. The movement state of the obstacle crossing mechanism can be switched according to actual needs, so that the obstacle crossing mechanism has a better obstacle crossing effect. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of the present invention;

[0026] Figure 2 This is a schematic diagram of the installation of the drive parallel connector;

[0027] Figure 3 This is a schematic diagram of an obstacle-crossing vehicle in the step-over obstacle-crossing mode;

[0028] Figure 4 This is a motion state diagram of the stepping obstacle crossing mode;

[0029] Figure 5 This is a schematic diagram of an obstacle-crossing vehicle in all-wheel drive mode;

[0030] Figure 6 This is a schematic diagram of an obstacle-crossing vehicle in all-wheel drive mode;

[0031] Figure 7 This is the main view of the driver parallel connector;

[0032] Figure 8 This is a schematic diagram of the structure of the driver parallel connector;

[0033] Figure 9 This is a schematic diagram of a drive parallel connector in its non-drive state;

[0034] Figure 10 This is a schematic diagram of a drive parallel connector in transmission mode;

[0035] Figure 11 This is a schematic diagram illustrating the usage status of the drive parallel connector;

[0036] Figure 12 This is a motion state diagram of the hill climbing mode;

[0037] Figure 13 This is a diagram illustrating the maximum obstacle clearance height in the climbing mode;

[0038] Figure 14 This is a schematic diagram illustrating the maximum obstacle-crossing height in the hill-climbing mode.

[0039] Figure 15 This is the minimum angle state diagram for the climbing mode;

[0040] Figure 16 This is a schematic diagram of an obstacle-crossing mechanism with a telescopic structure.

[0041] Reference numerals: Main shaft 1, inner wheel arm 2, outer wheel arm 3, inner half wheel 4, inner half wheel rotating shaft 41, outer half wheel 5, outer half wheel rotating shaft 51, swing arm drive motor 6, coaxial reversing mechanism 7, inner half wheel drive motor 8, outer half wheel drive motor 9, drive parallel connector 10, housing 101, rotating shaft 102, transmission base 103, transmission block 104, push shaft motor 105, slide plate 106, transmission bearing 107, telescopic structure 11. Detailed Implementation

[0042] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0043] like Figures 1-16 As shown, a half-wheel obstacle-crossing mechanism includes a main shaft 1 and an inner wheel arm 2 and an outer wheel arm 3 rotatably connected to the main shaft 1. An inner half-wheel 4 and an inner half-wheel drive motor 8 for driving the inner half-wheel 4 to rotate are mounted on the inner wheel arm 2. An outer half-wheel 5 and an outer half-wheel drive motor 9 for driving the outer half-wheel 5 to rotate are mounted on the outer wheel arm 3. A swing arm drive motor 6 for driving the inner wheel arm 2 to swing is provided on the main shaft 1. A coaxial reversing mechanism 7 for controlling the inner wheel arm 2 and the outer wheel arm 3 to always move in opposite directions is also provided on the main shaft 1. A drive parallel connector 10 for parallel operation of the inner half-wheel 4 and the outer half-wheel 5 is installed on the inner half-wheel 4 or the outer half-wheel 5. A climbing angle α is formed between the inner wheel arm 2 and the outer wheel arm 3 to facilitate the climbing of the inner half-wheel 4 and the outer half-wheel 5.

[0044] The inner wheel arm 2 and the outer wheel arm 3 are arranged along the radial direction of the main shaft 1. The inner half wheel drive motor 8 is mounted on the end of the inner wheel arm 2, and the inner half wheel drive motor 8 and the main shaft 1 are respectively connected to the opposite ends of the inner wheel arm 2. Under the action of the inner half wheel drive motor 8, the inner half wheel 4 is driven to rotate. The outer half wheel drive motor 9 is mounted on the end of the outer wheel arm 3, and the inner half wheel drive motor 8 and the main shaft 1 are respectively connected to the opposite ends of the outer wheel arm 3. Under the action of the outer half wheel drive motor 9, the outer half wheel 5 is driven to rotate.

[0045] The coaxial reversing mechanism 7 can be two bevel gears mounted on the main shaft 1. A transmission gear is provided between the two bevel gears, which meshes with both bevel gears simultaneously. One bevel gear is fixedly connected to the main shaft 1, and the other is rotatably connected to the main shaft 1. During the rotation of the main shaft 1, the bevel gear fixedly connected to the main shaft 1 is driven to rotate. Thus, under the action of the transmission gear, the bevel gear rotatably connected to the main shaft 1 is reversed, thereby realizing that the inner wheel arm 2 and the outer wheel arm 3 always move in opposite directions.

[0046] By adjusting the working state of the inner wheel arm 2 and the outer wheel arm 3, the obstacle crossing mechanism can have three working modes: all-wheel drive mode, stepping obstacle crossing mode, and climbing mode.

[0047] In the stepping obstacle crossing mode: the inner wheel arm 2 and the outer wheel arm 3 are connected to the opposite sides of the coaxial reversing mechanism 7. The movement direction of the inner wheel arm 2 is always opposite to the movement direction of the outer wheel arm 3. The swing arm drive motor 6 drives the inner wheel arm 2 and the outer wheel arm 3 to swing back and forth to form the stepping frequency. The outer half wheel 5 and the inner half wheel 4 have the same speed, and the speed of the outer half wheel 5 and the inner half wheel 4 corresponds to the stepping frequency.

[0048] The outer half-wheel 5 and the inner half-wheel 4 rotate at the same speed, and the outer half-wheel 5 and the inner half-wheel 4 are always set relative to each other when rotating. Therefore, at least one half-wheel will always be in contact with the ground during the rotation. The suspended state of a certain outer half-wheel 5 or inner half-wheel 4 has no effect on the stability of the frame. Therefore, its load capacity is the same as that of a wheeled vehicle.

[0049] When encountering terrain obstacles, the obstacle-crossing mechanism can perform a stepping motion through the reciprocating motion of the inner wheel arm 2 and the outer wheel arm 3, thereby realizing the walking function of the obstacle-crossing mechanism. This is the stepping obstacle-crossing mode. For example, when the obstacle-crossing vehicle slips on the ice, it can switch to the stepping obstacle-crossing mode. That is, by starting the swing arm drive motor 6, the inner wheel arm 2 and the outer wheel arm 3 can perform cross reciprocating motion to achieve stepping movement, using the stepping motion to overcome the terrain situation where the outer half wheel 5 and the inner half wheel 4 slip.

[0050] In the obstacle-crossing mode, the speed of the obstacle-crossing vehicle is determined by the rotational speed of the outer half wheel 5 and the inner half wheel 4. To ensure the stability of the vehicle, the stepping frequency of the inner wheel arm 2 and the outer wheel arm 3 and the rotational speed of the outer half wheel 5 and the inner half wheel 4 need to be matched. The stepping frequency is determined by the output speed of the swing arm drive motor 6.

[0051] When the inner wheel arm 2 rotates to the initial position of the outer wheel arm 3 (at this time, the position of the outer wheel arm 3 has correspondingly rotated to the initial position of the inner wheel arm 2), the inner half wheel 4 should simultaneously rotate to the initial position of the outer half wheel 5 (at this time, the outer half wheel 5 has correspondingly rotated to the initial position of the inner half wheel 4). Similarly, when the inner wheel arm 2 returns to its original position, as a complete stepping motion, the inner half wheel 4 should also return to its original position from the state of the outer half wheel 5. At this time, the outer half wheel 5 and the inner half wheel 4 have rotated exactly one revolution. The frequency of the inner wheel arm 2 and the outer wheel arm 3 is determined by the output speed of the swing arm drive motor 6, while the speed of the outer half wheel 5 and the inner half wheel 4 is adjustable. Let the speed of the swing arm drive motor 6 be Y r / s. The output shaft of the swing arm drive motor 6 needs to rotate n revolutions to swing the inner wheel arm 2 and the outer wheel arm 3 back and forth once. The rotation speed of the outer half wheel 5 and the inner half wheel 4 is X r / s, where n is the design parameter of the motor and can be regarded as a fixed quantity, and X and Y are the adjustment speeds during the vehicle's movement and are variables. The relationship between X and Y can be obtained as X = Y / n (r / s is the unit of rotational speed, revolutions per second).

[0052] In all-wheel drive mode, the inner wheel arm 2 and the outer wheel arm 3 are swung to an angle of 0 degrees by the swing arm drive motor 6. After that, the swing arm drive motor 6 stops working, the inner half wheel 4 and the outer half wheel 5 are on the same axis, and the inner half wheel 4 and the outer half wheel 5 are connected by the drive parallel connector 10. The inner half wheel 4 and the outer half wheel 5 form a complete wheel structure.

[0053] Since the inner half wheel 4 and the outer half wheel 5 are each equipped with their own corresponding inner half wheel drive motor 8 and outer half wheel drive motor 9, the wheel foot structure formed by the combination of the inner half wheel 4 and the outer half wheel 5 actually has the inner half wheel drive motor 8 and the outer half wheel drive motor 9 operating simultaneously. Moreover, the inner half wheel drive motor 8 and the outer half wheel drive motor 9 have half of their working states that only drive the corresponding inner half wheel 4 and outer half wheel 5 to idle (i.e., when the inner half wheel 4 and the outer half wheel 5 are not in contact with the ground).

[0054] The drive parallel unit 10 includes a housing 101 and a rotating shaft 102 rotatably connected to the housing 101. The housing 101 is provided with a push shaft motor 105 that drives the rotating shaft 102 to move axially. The housing 101 is fixedly connected to the inner half wheel 4 or the outer half wheel 5. The inner half wheel 4 has an inner half wheel rotating shaft 41 corresponding to the rotating shaft 102 in the middle, and the outer half wheel 5 has an outer half wheel rotating shaft 51 corresponding to the rotating shaft 102 in the middle.

[0055] The pushing direction of the push shaft motor 105 is set along the axial direction of the rotating shaft 102. Under the action of the push shaft motor 105, the rotating shaft 102 is driven to move axially. The inner half wheel rotating shaft 41 rotates synchronously with the inner half wheel 4, and the outer half wheel rotating shaft 51 rotates synchronously with the outer half wheel 5.

[0056] When the drive parallel connector 10 is in a non-transmission state, the drive parallel connector 10 is not in contact with the inner half wheel rotating shaft 41 and the outer half wheel rotating shaft 51. The inner half wheel rotating shaft 41 drives the inner half wheel 4 to rotate under the action of the inner half wheel drive motor 8, and the outer half wheel rotating shaft 51 drives the outer half wheel 5 to rotate under the action of the outer half wheel drive motor 9.

[0057] When the drive parallel connector 10 is in the transmission state, the drive parallel connector 10 is simultaneously connected to the inner half wheel rotating shaft 41 and the outer half wheel rotating shaft 51. At this time, the inner half wheel rotating shaft 41 and the outer half wheel rotating shaft 51 rotate synchronously under the action of the drive parallel connector 10, thus realizing the parallel operation of the inner half wheel drive motor 8 and the outer half wheel drive motor 9.

[0058] A transmission base 103 is formed on one side of the housing 101 and is rotatably connected to the housing 101. A transmission bearing 107 is provided between the transmission base 103 and the housing 101. The transmission bearing 107 is sleeved on the transmission base 103, and the rotational connection between the housing 101 and the transmission base 103 is realized under the action of the transmission bearing 107.

[0059] The transmission base 103 is provided with a transmission block 104 that rotates synchronously with the end of the rotating shaft 102. The transmission block 104 is rotatably connected to the rotating shaft 102, and the middle part of the transmission block 104 is rotatably connected to the transmission base 103. The inner half wheel rotating shaft 41 or the outer half wheel rotating shaft 51 has a slot that engages with the transmission block 104.

[0060] The push-shaft motor 105 is equipped with a slide plate 106 for driving the rotating shaft 102 to move axially. The transmission shaft has a ring rib arranged in the radial direction of the transmission shaft, and the slide plate 106 is clamped on the ring rib.

[0061] When the push-shaft motor 105 of the drive parallel connector 10 pushes the rotating shaft 102 out axially, two transmission blocks 104 will extend from the front end of the drive parallel connector 10. At this time, the rotating shaft 102 is connected to the outer half-wheel rotating shaft 51, and the two transmission blocks 104 are connected to the inner half-wheel rotating shaft 41. At this time, the inner half-wheel drive motor 8 and the outer half-wheel drive motor 9 can work in parallel.

[0062] In the climbing mode, when encountering stepped terrain, the obstacle-crossing vehicle switches to the climbing mode and adjusts the angle between the inner wheel arm 2 and the outer wheel arm 3 to adapt to the stepped obstacle that needs to be overcome.

[0063] Let R be the radius of the inner half-wheel 4 and the outer half-wheel 5, which is an inherent characteristic of the product and is a quantitative value; α be the angle between the inner wheel arm 2 and the outer wheel arm 3, which is a variable; and h and ω be the required step height and width, which are the actual environmental conditions that can be obtained through the equipment's sensors and are quantitative values. In the process of overcoming the step obstacle, it is necessary to solve the two data points of overcoming the step width and height.

[0064] When encountering a step in its initial state, it only needs to overcome the corresponding step height. The maximum obstacle-crossing height of the obstacle-crossing mechanism is close to the diameter of the inner half wheel 4 and the outer half wheel 5, which is 2R. In actual operation, there is interference from the radius r of the inner half wheel drive motor 8 and the outer half wheel drive motor 9. The inner half wheel 4 and the outer half wheel 5 need to rotate a certain angle to truly play their role.

[0065] To avoid the space constraints of the inner half-wheel drive motor 8 and the outer half-wheel drive motor 9, a certain obstacle-crossing height needs to be sacrificed. The specific values ​​can be calculated as follows: .

[0066] When climbing stairs with a fixed angle between the inner wheel arm 2 and the outer wheel arm 3, there are also minimum and maximum angles between the inner wheel arm 2 and the outer wheel arm 3. According to Sin(α / 2)=[(Rr) / 2] / L and Sin(α / 2)=[(R+r) / 2] / L (where L is the wheel arm length), the minimum angle between the inner wheel arm 2 and the outer wheel arm 3 can be obtained as αmin=[arcsin[(Rr) / 2] / L]X2, and the maximum angle between the inner wheel arm 2 and the outer wheel arm 3 is αmax=[arcsin[(R+r) / 2] / L]X2.

[0067] When the step width ω < 2R, the included angle between the inner wheel arm 2 and the outer wheel arm 3 needs to be adjusted to αmin. When the structure is finalized, the above R, r, and L are all constant values, and the relevant technical parameters of the final product can be obtained through the above calculation.

[0068] The climbing angle α between the inner half-wheel 4 and the outer half-wheel 5 is αmin-αmax, where αmin=[arcsin[(Rr) / 2] / L]X2, αmax=[arcsin[(R+r) / 2] / L]X2. The inner half-wheel 4 and the outer half-wheel 5 have the same size. The inner half-wheel drive motor 8 and the outer half-wheel drive motor 9 have the same size. The inner wheel arm 2 and the outer wheel arm 3 have the same length. Where R is the radius of the inner half-wheel 4 or the outer half-wheel 5, r is the motor radius of the inner half-wheel drive motor 8 or the outer half-wheel drive motor 9, and L is the length of the inner wheel arm 2 or the outer wheel arm 3.

[0069] In actual use, the inner wheel arm 2 and the outer wheel arm 3 can be equipped with a telescopic structure 11. The telescopic structure 11 can be an elastic structure with an automatic reset function, so that the obstacle crossing mechanism has a good vibration reduction function in all-wheel drive mode, step obstacle crossing mode and climbing mode.

[0070] An obstacle-crossing vehicle, including a half-wheeled foot obstacle-crossing mechanism.

[0071] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention; therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0072] Although this document uses numerous reference numerals from the accompanying drawings—main shaft 1, inner wheel arm 2, outer wheel arm 3, inner half wheel 4, inner half wheel rotation shaft 41, outer half wheel 5, outer half wheel rotation shaft 51, swing arm drive motor 6, coaxial reversing mechanism 7, inner half wheel drive motor 8, outer half wheel drive motor 9, drive parallel connector 10, housing 101, rotation shaft 102, transmission base 103, transmission block 104, push shaft motor 105, slide plate 106, transmission bearing 107, telescopic structure 11, etc.—the possibility of using other terms is not excluded. These terms are used merely for the convenience of describing and explaining the essence of the invention; interpreting them as any additional limitation would contradict the spirit of the invention.

Claims

1. A half-wheel-foot type obstacle surmounting mechanism comprising a main shaft (1) and an inner wheel arm (2) and an outer wheel arm (3) which are rotatably connected to the main shaft (1), characterized in that, The inner wheel arm (2) is provided with an inner half wheel (4) and an inner half wheel driving motor (8) for driving the inner half wheel (4) to rotate, and the outer wheel arm (3) is provided with an outer half wheel (5) and an outer half wheel driving motor (9) for driving the outer half wheel (5) to rotate; the main shaft (1) is provided with a swing arm driving motor (6) for driving the inner wheel arm (2) to swing, and the main shaft (1) is further provided with a coaxial reverse mechanism (7) for controlling the inner wheel arm (2) and the outer wheel arm (3) to always move in opposite directions; the inner half wheel (4) or the outer half wheel (5) is provided with a driving parallel connection device (10) for driving the parallel connection of the inner half wheel (4) and the outer half wheel (5); the inner wheel arm (2) and the outer wheel arm (3) form a climbing angle α between them, which facilitates the climbing of the inner half wheel (4) and the outer half wheel (5); when the inner wheel arm (2) and the outer wheel arm (3) swing to an angle of 0 degrees, the inner half wheel (4) and the outer half wheel (5) are connected through the driving parallel connection device (10), and the inner half wheel (4) and the outer half wheel (5) form a complete wheel structure; the driving parallel connection device (10) comprises a shell (101) and a rotating shaft (102) rotatably connected with the shell (101), the shell (101) is provided with a push shaft motor (105) for driving the rotating shaft (102) to move axially, the shell (101) is fixedly connected to the inner half wheel (4) or the outer half wheel (5), the inner half wheel (4) is formed with an inner half wheel rotating shaft (41) corresponding to the rotating shaft (102) in the middle, and the outer half wheel (5) is formed with an outer half wheel rotating shaft (51) corresponding to the rotating shaft (102) in the middle; one side of the shell (101) is formed with a transmission base (103) rotatably connected with the shell (101), and a transmission bearing (107) is arranged between the transmission base (103) and the shell (101); the transmission base (103) is provided with a transmission block (104) rotatable synchronously with the end of the rotating shaft (102), the transmission block (104) is rotatably connected with the rotating shaft (102), and the middle of the transmission block (104) is rotatably connected with the transmission base (103), and the inner half wheel rotating shaft (41) or the outer half wheel rotating shaft (51) is formed with a clamping groove clamped with the transmission block (104).

2. A semi-wheel-foot type obstacle negotiating mechanism according to claim 1, characterized in that, The inner wheel arm (2) and the outer wheel arm (3) are connected to opposite sides of the coaxial reverse mechanism (7), and the movement direction of the inner wheel arm (2) is always opposite to the movement direction of the outer wheel arm (3).

3. A semi-wheel-foot type obstacle surmounting mechanism according to claim 2, characterized in that The swing arm driving motor (6) drives the inner wheel arm (2) and the outer wheel arm (3) to reciprocatingly swing to form a stepping frequency, the rotating speeds of the outer half wheel (5) and the inner half wheel (4) are the same, and the rotating speeds of the outer half wheel (5) and the inner half wheel (4) correspond to the stepping frequency.

4. The semi-wheel-foot type obstacle surmounting mechanism according to claim 1, characterized by The push shaft motor (105) is provided with a sliding disc (106) for driving the rotating shaft (102) to move axially, and the rotating shaft (102) is formed with a ring rib arranged in the radial direction of the rotating shaft (102), and the sliding disc (106) is clamped on the ring rib.

5. The semi-wheel-foot type obstacle surmounting mechanism according to claim 1, wherein The inner half wheel (4) and the outer half wheel (5) have a climbing angle α of αmin-αmax, αmin=[arcsin [(R-r) / 2] / L]X2, αmax=[arcsin [(R+r) / 2] / L]X2, the inner half wheel (4) and the outer half wheel (5) have the same size, the inner half wheel driving motor (8) and the outer half wheel driving motor (9) have the same size, the inner wheel arm (2) and the outer wheel arm (3) have the same length, wherein R is the radius of the inner half wheel (4) or the outer half wheel (5), r is the motor radius of the inner half wheel driving motor (8) or the outer half wheel driving motor (9), and L is the length of the inner wheel arm (2) or the outer wheel arm (3).

6. An obstacle surmounting vehicle characterized by comprising: The half-wheel foot type obstacle crossing mechanism comprises the half-wheel foot type obstacle crossing mechanism according to any one of claims 1-5.

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