The invention discloses a novel wheel-track conversion walking device, which comprises a frame, a wheel type walking mechanism and a track walking mechanism. The track walking mechanism includes two tracks arranged at two sides of the frame, wherein each track comprises a track driving wheel connected with a track driving motor and three guide wheels; a guide wheel shaft is rotationally mounted onthe guide wheel which is positioned on the same horizontal plane as the track driving wheel, that is, the rotation of the guide wheel shaft does not drive the guide wheel; the guide wheel shaft is connected with a track deformation motor, the track driving wheel and the three guide wheels are connected through three cranks to form a parallelogram structure, one of the three cranks is a driving crank and is fixed with the guide wheel shaft, and the other two cranks are driven cranks. According to the invention, the advantages of the track walking device in the aspect of obstacle crossing capability and the advantage of high and flexible advancing speed of the wheel type walking device are utilized. The adaptive capacity of the robot to the complex environment can be improved, and the rescue efficiency is also improved.

    本发明的一种新型的轮履转换行走装置,包括车架,轮式行走机构和履带行走机构;履带行走机构,包括车架两侧的履带,每个履带包括一个连接有履带驱动电机的履带驱动轮和三个导向轮,而与履带驱动轮处于同一水平的导向轮上转动安装有导向轮轴,即导向轮轴的转动不会驱动导向轮,导向轮轴上连接有履带变形电机,履带驱动轮和三个导向轮通过三个曲柄连接并形成平行四边形结构,三个曲柄的其中一个为主动曲柄,并与导向轮轴固定,另外两个曲柄为从动曲柄。本发明即利用了履带行走装置在越障能力方面的优势,也利用了轮式行走装置行进速度快灵活的优点。不仅能够提高机器人对复杂环境的适应能力,也提高了救援效率。


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    Titel :

    Novel wheel-track conversion walking device


    Weitere Titelangaben:

    一种新型的轮履转换行走装置


    Beteiligte:
    ZHAO JIANGKUN (Autor:in) / JIANG FAN (Autor:in) / LI WEI (Autor:in)

    Erscheinungsdatum :

    2020-08-28


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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