The deformable combined type mobile robot comprises a deformable hub and an outer crawler belt, the deformable hub comprises an outer gear, a supporting hub, a transmission sleeve, a power main shaft, a similar triangular plate, a front clutch mechanism, a rear clutch mechanism, a forward and reverse rotation mechanism, a bottom disc and a guide rail disc, and the similar triangular plate is connected to the power main shaft; the transmission sleeve is sleeved outside the power main shaft and fixed at the bottom end of the similar triangular plate, the three outer gears and the three supporting hubs are evenly distributed at intervals, connected to the transmission sleeve through the connecting rod mechanism and limited on the guide rail disc, and wheel shafts of the three outer gears are respectively clamped in three sliding grooves of the similar triangular plate through pins and can slide in the sliding grooves. The forward and reverse rotation mechanism is arranged between the bottom disc and the guide rail disc, the front clutch mechanism enables transmission between the power main shaft and the triangular-like plate to be disconnected or connected, the rear clutch mechanism enables transmission between the power main shaft and the forward and reverse rotation mechanism to be disconnected or connected, and the outer crawler belt is meshed with the outer gear. The adaptability to the ground is improved through deformation of the deformation hub.
本发明提出可变形复合式移动机器人,包括:变形轮毂和外履带,变形轮毂包括外齿轮、支撑毂、传动套筒、动力主轴、类三角板、前离合机构、后离合机构、正反转机构、底部圆盘和导轨盘,类三角板连接在动力主轴上,传动套筒套在动力主轴外并固定在类三角板底端,三个外齿轮和三个支撑毂间隔均匀分布并通过连杆机构连接在传动套筒上,且限位在导轨盘上,三个外齿轮的轮轴通过销钉分别卡在类三角板的三条滑槽内并可在其内滑动,正反转机构设置在底部圆盘和导轨盘之间,前离合机构使动力主轴与类三角板之间的传动断开或闭合,后离合机构使动力主轴和正反转机构之间的传动断开或闭合,外履带啮合在外齿轮上。本发明通过变形轮毂变形提高对地面的适应性。
Deformable combined type mobile robot
一种可变形复合式移动机器人
2025-03-07
Patent
Electronic Resource
Chinese
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