The invention discloses a reconfigurable wheel-track composite wheel applied to a trolley robot. The reconfigurable wheel-track composite wheel comprises a crawler belt, a bearing wheel, a hydraulic deformation device, a crawler belt holder and a planetary gear transmission mechanism, wherein the crawler belt is fixed to the outer side of the reconfigurable wheel body, and the crawler belt is switched between a wheel type mode and a crawler belt mode under the combined action of the hydraulic deformation mechanism and the planetary gear mechanism. According to the invention, wheel-type wheels and crawler-belt type wheels are combined, so that the forms of the wheels can be switched through the hydraulic deformation mechanism, and the requirements of high-speed movement on a paved road surface and high traffic-ability under a complex terrain are met.
本发明公开了一种应用于小车机器人的可重构轮履复合式车轮,包括:履带、承重轮、液压变形装置、履带保持架和行星齿轮传动机构;所述履带固定在可重构车轮轮体外侧,所述履带在所述液压变形机构和所述行星齿轮机构的共同作用下进行轮式和履带模式之间转换。本发明通过将轮式和履带式车轮相结合,使其可以通过液压变形机构切换车轮形态,以满足在铺装路面的告诉移动和在复杂地形下的高通过性。
Reconfigurable wheel-track composite wheel applied to trolley robot
一种应用于小车机器人的可重构轮履复合式车轮
2021-10-12
Patent
Electronic Resource
Chinese
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