The invention relates to a travelling mechanism, in particular to a wheel type travelling mechanism which has high adaptive capacity for complex terrain. The wheel type travelling mechanism comprises a chassis, a motor, a motion allocator, a speed reducer and four travelling modules of the same functional structure. The motor is arranged on the chassis and connected with the motion allocated and is used for providing driving force. The four travelling modules are symmetrically arranged on the two sides of the chassis. The motion allocator is connected with two symmetrical travelling modules through the speed reducer. Every two travelling modules located on the same side of the chassis are connected through a rocker structure; a planetary gear train is adopted for each travelling module so that an under-actuated wheel structure can be formed; a single-side suspension is provided with two auxiliary rockers and a main rocker; the main rocker and auxiliary rocker combined mode guarantees that the pitching degree is reduced when a vehicle is impacted by a barrier, it is guaranteed that eight wheels of a mobile robot can be grounded in the running process, motion is more stable, the capacity for the suspension to passively adapt to soft and complex terrain is improved, and stability and obstacle crossing capacity of the robot can be improved.


    Access

    Download


    Export, share and cite



    Title :

    Wheel type travelling mechanism


    Contributors:
    ZHANG XINHUA (author) / WANG XIAOLIN (author) / LI NAN (author) / WANG FANG (author) / LIU TIANLONG (author) / WANG JIALI (author)

    Publication date :

    2016-02-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge



    Wheel leg combined type obstacle crossing travelling mechanism

    WANG YONGMING / YE JUN / YU XIAOLIU | European Patent Office | 2015

    Free access

    Travelling wheel structure

    DENG CHUANGUI | European Patent Office | 2020

    Free access

    TRAVELLING VEHICLE WHEEL

    ZADA VACLAV / BRABEC PAVEL / VOZENÍLEK ROBERT | European Patent Office | 2016

    Free access

    Travelling wheel and mower

    LI WANGHAO / GAO JIE / CAO JIN et al. | European Patent Office | 2021

    Free access

    Rail-clamping travelling wheel

    CHEN BEILI / LUO QUEQIAO / LI YONGGANG | European Patent Office | 2015

    Free access