The deformable composite wheel-track walking mechanism comprises a chassis frame, two sets of rubber wheel mechanisms of the same structure and two sets of track sub-mechanisms of the same structure, the chassis frame is divided into the front side, the rear side, the left side and the right side, and the rubber wheel mechanisms are fixed to the front side and the rear side respectively; the left side and the right side are each fixedly provided with a crawler sub-mechanism, and the two rubber wheel mechanisms and the two crawler sub-mechanisms do not interfere with each other. Two walking modes, namely a crawler walking mode and a rubber wheel walking mode, are adopted. By means of the deformable chassis structure, the form of switching the two walking modes of the crawler belt and the rubber wheel is achieved, and under the condition that the size is fixed, the obstacle crossing performance of the whole robot car is greatly improved.

    本发明公开了一种应用于机器人的可变形复合轮履行走机构,包括底盘车架、两组结构相同的胶轮子机构和两组结构相同的履带子机构,将底盘车架分为前侧、后侧、左侧、右侧,前侧和后侧分别固定一组胶轮子机构,左侧和右侧分别固定一组履带子机构,两组胶轮子机构和两组履带子机构之间均不发生干涉;采用两种行走模式,分别为履带行走模式和胶轮行走模式。本发明利用可变形的底盘结构,实现履带和胶轮两个行走方式切换的形态,在尺寸固定的情况下,对整个机器人车的越障性能有着大幅度的提升。


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    Title :

    Deformable composite wheel-fulfillment walking mechanism applied to robot


    Additional title:

    应用于机器人的可变形复合轮履行走机构


    Contributors:
    WANG ZHEN (author) / CHANG JEEAN (author)

    Publication date :

    2023-05-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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