The invention discloses a deformable omni-directional wheel capable of adapting to various terrains and a driving method. The deformable omni-directional wheel comprises a horizontally-installed main shaft, a main shaft disc fixed to the end of the main shaft, a columnar roller connecting assembly installed on the outer circle of the main shaft disc and a roller connected to the outer end of the roller connecting assembly. The transmission device is installed between the main shaft and the roller connecting assemblies, the roller connecting assemblies and the rollers are multiple, a large wheel is formed on the periphery of each roller, the main shaft can drive the rollers to roll and can also drive the large wheel to roll, and the transmission device can drive the rollers to swing by an angle around the axes of the roller connecting assemblies so that the rollers can roll towards all the angles; the robot can move front and back, move left and right and obliquely, is flexible in steering, can adapt to various terrains, can move front and back and can also rotate in situ, and meanwhile has the advantages of being reliable in structure and low in manufacturing cost; and meanwhile, each group of rollers can run, so that only one group of rollers can be used even if the rollers are damaged, and the equipment guarantee degree is greatly improved.
本发明公开了一种能适应各种地形的可变形全向轮及驱动方法,包括水平安装的主轴、固定在主轴端部的主轴盘、安装在主轴盘外圆上的柱状的滚轮连接组件、连接在滚轮连接组件外端部的滚轮,安装在主轴与滚轮连接组件之间的传动装置,所述滚轮连接组件和滚轮有多个,所有滚轮的外周围成一个大轮,主轴可驱动滚轮滚动、也可驱动大轮滚动,传动装置可驱动滚轮绕滚轮连接组件的轴线摆动角度、使滚轮朝各角度滚动;本发明可以前后移动、左右移动、斜向移动、转向灵活,可以适应各种地形,可前后移动,也可原地旋转,同时具有结构可靠,造价低廉的优点;同时由于每组滚轮都可运行,所以即使坏的只剩一组,仍然可使用,极大的提高了设备保障度。
Deformable omnidirectional wheel capable of adapting to various terrains and driving method
一种能适应各种地形的可变形全向轮及驱动方法
2023-01-03
Patent
Elektronische Ressource
Chinesisch
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