The invention discloses a wheel-track type reconfigurable deformation wheel which comprises a fixing device, a wheel-track shape deformation device and a track advancing device. The fixing device comprises a deformation wheel supporting frame and a U-shaped supporting frame. The deformation wheel support frame is a stress main body of the deformable wheel; the U-shaped supporting frame is installed on the deformation wheel supporting frame and located in the deformation wheel. The wheel-track shape deformation device comprises a deformation transmission mechanism and a deformation connecting rod structure, and the deformation transmission mechanism is used for driving the deformation connecting rod structure to extend or retract relative to the deformation wheel supporting frame; a transmission part of the track advancing device is installed on the deformation wheel supporting frame, and an elastic track is wrapped around the outer contour of the deformation wheel and makes contact with the deformation connecting rod structure. The wheel-track type reconfigurable deformation wheel has the capacity of freely switching two forms and high bearing capacity, is simple in implementationmode and high in reliability, can be widely applied to multiple fields, and can be applied to rapid movement and obstacle crossing rescue of a robot during post-disaster fire rescue.
本发明公开一种轮履式可重构变形轮,包括固定装置、轮履形态变形装置和履带行进装置;固定装置包括变形轮支撑架和U型支撑架;变形轮支撑架为变形轮的受力主体;U型支撑架安装在变形轮支撑架上并位于变形轮内部;轮履形态变形装置包括变形传动机构和变形连杆结构,变形传动机构用于驱动变形连杆结构可相对于变形轮支撑架伸出或缩回;履带行走装置的传动部分安装在变形轮支撑架上,弹性履带包覆于变形轮的外部轮廓并与变形连杆结构相接触。该轮履式可重构变形轮,具有自由切换两种形态能力和高承载能力,并且实施方式简单,可靠性高,在较多领域应用广泛,可应用于灾后消防救援时机器人的快速移动和越障救援。
Wheel-track type reconfigurable deformation wheel
一种轮履式可重构变形轮
2020-11-20
Patent
Electronic Resource
Chinese
IPC: | B60B VEHICLE WHEELS , Räder für Fahrzeuge |
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