The invention relates to a travelling mechanism, in particular to a wheel type travelling mechanism which has high adaptive capacity for complex terrain. The wheel type travelling mechanism comprises a chassis, a motor, a motion allocator, a speed reducer and four travelling modules of the same functional structure. The motor is arranged on the chassis and connected with the motion allocated and is used for providing driving force. The four travelling modules are symmetrically arranged on the two sides of the chassis. The motion allocator is connected with two symmetrical travelling modules through the speed reducer. Every two travelling modules located on the same side of the chassis are connected through a rocker structure; a planetary gear train is adopted for each travelling module so that an under-actuated wheel structure can be formed; a single-side suspension is provided with two auxiliary rockers and a main rocker; the main rocker and auxiliary rocker combined mode guarantees that the pitching degree is reduced when a vehicle is impacted by a barrier, it is guaranteed that eight wheels of a mobile robot can be grounded in the running process, motion is more stable, the capacity for the suspension to passively adapt to soft and complex terrain is improved, and stability and obstacle crossing capacity of the robot can be improved.
Wheel type travelling mechanism
2016-02-03
Patent
Elektronische Ressource
Englisch
Wheel leg combined type obstacle crossing travelling mechanism
Europäisches Patentamt | 2015
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