The invention discloses an opening and closing type walking device which comprises at least one single-wheel assembly, each single-wheel assembly comprises a supporting plate, a main wheel flange and an inner wheel, the main wheel flanges penetrate through the supporting plates, the inner wheels and the main wheel flanges are coaxially arranged, an inner shaft penetrates through the centers of the main wheel flanges, and a walking driving mechanism and an opening and closing driving mechanism are arranged on the supporting plates. A driving bevel gear is embedded in the center of the inner wheel, the end of the inner shaft penetrates through the driving bevel gear, at least one opening and closing transmission assembly is arranged on the inner wheel and comprises a plurality of transmission lead screws, the transmission lead screws penetrate through the side wall of the inner wheel, and driven bevel gears are arranged at the ends, located on the inner side of the inner wheel, of the transmission lead screws. The end, located outside the inner wheel, of the transmission lead screw is sleeved with a sleeve, a transmission nut is fixed into the sleeve, and an arc-shaped outer wheel is fixed to the end, away from the inner wheel, of the sleeve. The wheel diameter is adjusted by driving the outer wheel to be opened or closed, and then the actions of going up and down stairs and crossing obstacles are completed.
本发明公开了一种张合式行走装置,其包括有至少一个独轮组件,独轮组件包括有支撑板、主轮法兰和内轮,主轮法兰穿过支撑板,内轮与主轮法兰同轴设置,主轮法兰的中心处穿设有内轴,支撑板上设有行走驱动机构以及张合驱动机构,内轮的中心处嵌设有主动伞形齿轮,内轴的端部穿过主动伞形齿轮,内轮上设有至少一组张合传动组件,张合传动组件包括有多个传动丝杆,传动丝杆穿过内轮的侧壁,传动丝杆位于内轮内侧的一端设有从动伞形齿轮,传动丝杆位于内轮外侧的一端套设有套筒,套筒内固定有传动螺母,套筒远离内轮的一端固定有弧状的外轮。本发明通过驱使外轮张开或者合拢来调整轮径,进而完成上下楼梯以及跨越障碍动作。
Opening and closing type walking device
一种张合式行走装置
2021-05-25
Patent
Elektronische Ressource
Chinesisch