The invention discloses a wheel structure of a wheel-track coupling robot. The wheel structure comprises a wheel body, a track, a wheel-track conversion driving mechanism, a wheel body driving mechanism and a track driving mechanism, wherein the peripheral side of the wheel body is sleeved with a crawler belt; the wheel body driving mechanism is in transmission connection with the wheel body; the wheel-track conversion driving mechanism and the track driving mechanism are both mounted on the wheel body; the wheel-track conversion driving mechanism is used for driving the wheel body to be switched between a circular wheel state and a triangular track state; the track driving mechanism is used for driving the track to roll when the wheel body is in a track state; and the wheel body driving mechanism is used for driving the wheel body to rotate when the wheel body is in the wheel state. According to the wheel structure, the wheel and the crawler belt are combined together, conversion between the wheel form and the crawler belt form can be smoothly achieved, and the structure can be kept stable in the crawler belt form.
本发明公开了一种轮履耦合机器人的车轮结构,该车轮结构包括轮体、履带、轮履变换驱动机构、轮体驱动机构以及履带驱动机构;轮体的外周侧套设有履带;轮体驱动机构与轮体之间传动连接;轮履变换驱动机构和履带驱动机构均安装于轮体;轮履变换驱动机构用于驱动轮体在圆形的车轮状态和三角形的履带状态之间切换;履带驱动机构用于在轮体处于履带状态时驱动履带滚动;轮体驱动机构用于在轮体处于车轮状态时驱动轮体转动。上述车轮结构将车轮与履带结合在一起,能够顺利地实现轮形态与履带形态的转换,并且结构在履带形态下能保持稳定。
Wheel structure of wheel-track coupling robot
一种轮履耦合机器人的车轮结构
10.12.2021
Patent
Elektronische Ressource
Chinesisch
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