The invention discloses a diameter-variable wheel type coal mine rescue robot moving mechanism, and relates to the technical field of robot accessories. The diameter-variable wheel type coal mine rescue robot moving mechanism comprises a moving platform, the moving platform is provided with four diameter-variable wheels, and the four diameter-variable wheels are distributed in a rectangular shape; each diameter-variable wheel comprises a water bomb wheel structure skin and a spoke mechanism, the spoke mechanism is located on the inner side of the water bomb wheel structure skin and is in transmission connection with the moving platform, and the spoke mechanism supports the diameter-variable wheel and drives the diameter-variable wheel to deform at the same time. On the basis of having the advantages of simple structure, low requirement on a transmission system, high traveling speed, simplicity in manufacturing, convenience in control and the like of a wheel type mobile system traveling mechanism, the obstacle crossing performance of a wheel type mobile robot is greatly improved, and when the wheel type mobile robot encounters an obstacle terrain, the adaptive capacity of the wheel type mobile robot to an unstructured complex terrain is improved by changing the diameter of the wheels.

    本发明公开了一种直径可变的轮式煤矿救援机器人移动机构,涉及到机器人附件技术领域,包括移动平台,所述移动平台上设置有四个直径可变轮,四个所述直径可变轮呈矩形分布;所述直径可变轮包括水弹轮结构蒙皮与轮辐机构,所述轮辐机构位于水弹轮结构蒙皮内侧并与移动平台传动连接,所述轮辐机构对直径可变轮进行支撑,同时带动直径可变轮发生形变。本发明不但具备轮式移动系统行走机构的结构简单,对传动系统的要求也不高,行进速度快、制作简单、控制方便等优势的基础上,而且很大程度的改善了轮式移动机器人的越障性能,在遇到障碍地形时,通过改变车轮直径来提高其对非结构化复杂地形的适应能力。


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    Title :

    Diameter-variable wheel type coal mine rescue robot moving mechanism


    Additional title:

    一种直径可变的轮式煤矿救援机器人移动机构


    Contributors:
    ZHAO LIJUAN (author) / LIU XIONGHAO (author)

    Publication date :

    2021-07-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60B VEHICLE WHEELS , Räder für Fahrzeuge / B62D MOTOR VEHICLES , Motorfahrzeuge



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