The invention provides a deformation wheel device which comprises a supporting frame assembly and a deformation mechanism assembly, the deformation mechanism assembly comprises a deformation power module, and the deformation power module is arranged at one side of the supporting frame assembly; the deformation power module comprises a first fixed plate, a first actuator, a spiral transmission device and a first sliding plate. The first fixed plate is connected with the supporting frame assembly. The first actuator is arranged on the first fixed plate and drives the first sliding plate to movethrough the spiral transmission device; the first sliding plate is connected with the supporting frame assembly. The deformable wheel device provided by the invention can be quickly switched between awheel type motion mode and a crawler type motion mode, and is small in size and simple in structure, and a mechanism obtained through deformation is high in configuration retentivity. The invention further provides a wheel-track-leg walking device and a wheel-track-leg robot, the advantages of the three motion modes of a wheel type, a track type and a leg type are integrated, the loading capacityis high, the motion speed is high, and the obstacle crossing level is high.
本发明提供一种变形轮装置,包括支撑架组件和变形机构组件,所述变形机构组件包括变形动力模块,其设置在所述支撑架组件的一侧;所述变形动力模块包括第一固定板、第一致动器、螺旋传动装置和第一滑动板;所述第一固定板与所述支撑架组件连接;所述第一致动器设置在所述第一固定板上,并通过所述螺旋传动装置致使所述第一滑动板移动;所述第一滑动板与所述支撑架组件连接。本发明提供的变形轮装置,可在轮式运动模式和履带式运动模式之间进行快速切换,体积小,结构简单,变形所得机构的构形保持性好。本发明还提供一种轮履腿行走装置及轮履腿机器人,将轮式、履带式、腿式三种运动模式的优势集于一身,载荷能力强、运动速度快、越障水平高。
Deformation wheel device, wheel-track-leg walking device and wheel-track-leg robot
一种变形轮装置、轮履腿行走装置及轮履腿机器人
2020-08-18
Patent
Electronic Resource
Chinese