The invention discloses a rocker sliding block type wheel-track form reconfigurable walking mechanism. The walking mechanism comprises a main body connecting and supporting component, a power component, a wheel-track component and unfolding mechanisms. When the unfolding mechanism is completely unfolded, the stability is good, the rocker sliding block type wheel-track form reconfigurable walking mechanism has the advantage of flexible movement and can realize wheel/track switching movement; a reconstruction assembly comprises two deformation mechanisms which are symmetrically arranged about the longitudinal symmetry plane, the two unfolding mechanisms are similar in structure, the two deformation mechanisms are connected with the outer wheel connecting piece and the center connecting piecethrough revolute pairs and the machine body respectively, and rapid switching of the wheel/track movement forms of the walking mechanism can be achieved through folding and unfolding deformation of the two deformation mechanisms. The rocker sliding block type wheel-track form reconfigurable walking mechanism is high in stability and can be applied to a post-disaster rescue reconnaissance and exploration robot and a rapid rescue moving mechanism.
本发明公开一种摇杆滑块式轮履形态可重构行走机构,其包括主体连接支撑构件、动力构件、轮履构件以及展开机构;变形机构完全展开时,稳定性好,具有运动灵活的优点、可实现轮/履切换运动,重构组件包括两个关于纵向对称面对称布置的变形机构,两组展开机构结构相似,两变形机构分别与外轮连接件和中心连接件通过转动副与机体相连,通过两个变形机构的收展变形能够实现行走机构轮/履运动形式的快速切换;本发明稳定性高,可应用于灾后救援侦察探险机器人以及快速救援移动机构。
Rocker sliding block type wheel-track form reconfigurable walking mechanism
一种摇杆滑块式轮履形态可重构行走机构
2020-06-02
Patent
Electronic Resource
Chinese
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