The invention relates to the technical field of obstacle crossing, and especially relates to a wheel leg type obstacle crossing mechanism and an obstacle crossing robot. The wheel leg type obstacle crossing mechanism comprises a chassis, an upper push rod, a lower push rod, a shock absorber and a rocker arm, wherein a wheel is arranged at the lower part of the chassis; the upper push rod and the lower push rod are horizontally arranged on the chassis, one end of the upper push rod is fixed on the chassis, and the other end of the upper push rod is hinged with one end of the shock absorber; oneend of the lower push rod is fixed on the chassis, and the other end is hinged with one end of the rocker arm; and the other end of the shock absorber is hinged to the middle of the rocker arm, and the other end of the rocker arm is connected with the wheel. The vertical obstacle crossing capacity of the chassis with the wheel is greatly improved, and the chassis with the wheel has reliable obstacle crossing capacity for vertical obstacles with the height larger than the radius of the wheels. Meanwhile, the wheel leg type obstacle crossing mechanism achieves the effect of lifting the wheels to cross obstacles by means of linkage stretching and retracting of the upper push rod and the lower push rod. When the wheel legs do not cross obstacles, the wheel legs are equivalent to active suspensions, and the effects of adjusting the rigidity of the suspensions and adjusting the height of the vehicle body can be achieved.

    本发明涉及越障技术领域,特指一种轮腿式越障机构和越障机器人。一种轮腿式越障机构,包括有下部设置有车轮的底盘、上推杆、下推杆、减震器和摇臂;上推杆和下推杆水平设置在底盘上,上推杆的一端固定在底盘上,另一端与减震器的一端铰接;下推杆的一端固定在底盘上,另一端与摇臂的一端铰接;减震器的另一端与摇臂的中部铰接,摇臂的另一端与车轮连接。与现有技术相比,本发明极大提高了带车轮的底盘的垂直越障能力,对于高度大于车轮半径的垂直障碍也具有可靠的越障能力。同时,轮腿式越障机构依靠上推杆和下推杆的联动伸缩,实现了车轮抬升越障的效果。当轮腿不在越障时,相当于主动悬架,可以起到调节悬架刚度,调节车体高度的作用。


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    Titel :

    Wheel leg type obstacle crossing mechanism and obstacle crossing robot


    Weitere Titelangaben:

    一种轮腿式越障机构和越障机器人


    Beteiligte:
    CHEN CHENG (Autor:in) / DENG JIE (Autor:in) / HU ZHE (Autor:in) / WANG YOUHE (Autor:in) / YOU RIQING (Autor:in) / LIANG JIAN (Autor:in) / ZHAO DEPING (Autor:in) / LIN JIANMING (Autor:in) / SHI HAOLI (Autor:in) / ZOU JIANBIN (Autor:in)

    Erscheinungsdatum :

    2020-07-03


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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