The invention discloses a universal wheel and walking equipment. The universal wheel comprises a wheel carrier, a first obstacle crossing wheel, a second obstacle crossing wheel and a walking wheel, wherein the first obstacle crossing wheel, the second obstacle crossing wheel and the walking wheel are arranged on the wheel carrier in a stepped mode. In the vertical direction, the lowest point of the first obstacle crossing wheel is located above the lowest point of the second obstacle crossing wheel, and the lowest point of the second obstacle crossing wheel is located above the lowest point of the walking wheel. In the walking direction, the foremost point of the first obstacle crossing wheel is located in front of the foremost point of the second obstacle crossing wheel, and the foremost point of the second obstacle crossing wheel is located in front of the foremost point of the walking wheel. When the universal wheel is used for crossing obstacles, the first obstacle crossing wheel, the second obstacle crossing wheel and the walking wheel which are arranged in a stepped mode make contact with a protruding obstacle in sequence so that the walking wheel can move to the position above the obstacle, power needed by walking equipment during obstacle crossing is reduced, and the obstacle crossing capacity of the universal wheel is improved.
本申请公开了一种万向轮以及行走设备,所述万向轮包括轮架以及在轮架上呈阶梯排布的第一越障轮、第二越障轮和行走轮;在竖直方向上,所述第一越障轮的最低点位于第二越障轮的最低点的上方,第二越障轮的最低点位于行走轮的最低点的上方;在行走方向上,所述第一越障轮的最前点位于第二越障轮的最前点的前方,第二越障轮的最前点位于行走轮的最前点的前方。所述万向轮在进行越障时,呈阶梯排布的第一越障轮、第二越障轮和行走轮依次与凸起的障碍物接触来使行走轮移动到障碍物上方,减少了行走设备越障时所需的动力,提高了万向轮的过坎越障能力。
Universal wheel and walking equipment
一种万向轮以及行走设备
2023-06-23
Patent
Elektronische Ressource
Chinesisch