The invention discloses a multi-angle wheel device for a ground robot. The multi-angle wheel device comprises a multi-angle hub, driven bevel gears, screws, connecting rods, nuts, foot rods and a driving bevel gear. A whole wheel is supported through the multi-angle hub, the driven bevel gears are fixed to one ends of the screws, and the screws are fixed to the angles of the multi-angle hub through bearing supports. The screws are connected with the nuts in a threaded manner, one ends of the connecting rods are connected with the nuts through hinges, and the other ends of the connecting rods are connected with the middles of the foot rods through hinges. The foot rods are connected to the semicircular ends of the top ends of the multi-angle hub. The nuts, the connecting rods and the foot rods form a slider-crank mechanism. When the multi-angle wheel device walks on the ground, the multi-angle wheel works just like an ordinary circular wheel. When the multi-angle wheel device needs to climb steps, the driving bevel gear is driven to rotate, the driven bevel gears accordingly drive the screws to rotate, and the nuts accordingly get close to the circle center to drive the connecting rods and the foot rods to be folded towards the angles of the multi-angle hub. At the moment, only the sharp ends of the multi-angle hub are in contact with the ground and barriers, and the semicircular structure of the multi-angle wheel device is beneficial for climbing the barriers.
Multi-angle wheel for ground robot
2015-12-16
Patent
Elektronische Ressource
Englisch
IPC: | B60B VEHICLE WHEELS , Räder für Fahrzeuge |
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