The transformable wheel-track combined type mobile robot comprises a transformable hub, a transmission mechanism and an outer track, the transformable hub comprises three outer gears, three supporting hubs, a transmission sleeve, a power main shaft, an intermittent clutch mechanism, a forward and reverse rotation mechanism, a bottom disc and a guide rail disc, the transmission sleeve is arranged on the outer side of a shaft body of the power main shaft, keeps static and is connected with three outer gears and three supporting hubs which are evenly distributed at intervals through a connecting rod mechanism, and the intermittent clutch mechanism is located above the forward and reverse rotation mechanism, is disconnected or connected with the forward and reverse rotation mechanism, drives the forward and reverse rotation mechanism to rotate forwards or reversely and drives the guide rail disc to rotate forwards or reversely. The three outer gears and the three supporting hubs limit the rotating angle on the guide rail disc, the transmission mechanism is connected with a shaft body of the power main shaft and the three outer gears, and the outer crawler belt is meshed with the outer sides of the three outer gears. Through the deformation of the deformation hub, the adaptability to the terrain is improved, the contact area is increased in the triangle-like state, and the pressure intensity is reduced.
本发明提出面向松软及坑洼多地形的可变形轮履复合式移动机器人,包括:变形轮毂、传动机构和外履带,变形轮毂包括三个外齿轮、三个支撑毂、传动套筒、动力主轴、间歇离合机构、正反转机构、底部圆盘和导轨盘,传动套筒设置在动力主轴的轴体外侧并保持静止,且通过连杆机构连接间隔设置均匀分布的三个外齿轮和三个支撑毂,间歇离合机构位于正反转机构上方并与其断开或闭合且驱动其正转或反转,带动导轨盘正转或反转;三个外齿轮和三个支撑毂在导轨盘上限定转动角度,传动机构连接动力主轴的轴体和三个外齿轮,外履带啮合在三个外齿轮的外侧。本发明通过变形轮毂的变形,提高对地形的适应,类三角形状态增加接触面积,降低压强。
Deformable wheel-track combined type mobile robot for soft and bumpy terrains
面向松软及坑洼多地形的可变形轮履复合式移动机器人
2025-01-24
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Hydraulically-driven deformable wheel-track combined type variant wheel
European Patent Office | 2020
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