The invention discloses an obstacle-crossing walking wheel, a walking mechanism and a method for controlling the walking mechanism to cross an obstacle, and belongs to the technical field of walking machinery. The obstacle-crossing walking wheel comprises a walking wheel body, a plurality of guide sliding ways are distributed in the walking wheel body in the circumferential direction, and the guide sliding ways extend in the radial direction of the walking wheel body and are communicated with the outside; the obstacle-crossing walking wheel comprises a walking wheel body, a guide slide way is arranged in the walking wheel body, supporting legs are connected into the guide slide way in a sliding mode, a control mechanism for controlling the supporting legs to stretch out of the guide slide way is arranged in the walking wheel body, and an obstacle-crossing area used for crossing obstacles can be formed between every two adjacent supporting legs along with stretching of the supporting legs. The obstacle crossing area formed by every two adjacent supporting legs can contain the obstacle, the obstacle does not need to be used as a supporting point and directly crosses over the obstacle, then a user does not need to worry that the obstacle pricks the walking wheel or is clamped between the supporting legs, and the obstacle crossing walking wheel and the walking mechanism can be widely applied to various walking type machines.

    本发明公开了一种跨障行走轮、行走机构及其控制行走机构跨障方法,属于行走式机械技术领域,其中跨障行走轮包括行走轮本体,行走轮本体内周向布设有若干道导向滑道,导向滑道沿行走轮本体的径向延伸并与外界相通,导向滑道内滑动连接有支撑腿,行走轮本体内设有控制支撑腿伸出导向滑道的控制机构,随支撑腿的伸出相邻两个支撑腿之间能够形成用于跨越障碍的跨障区域,本跨障行走轮提供了一种全新的跨越障碍的方式,在行走轮跨域障碍物时,相邻两个支撑腿所形成的跨障区域能够将障碍物容纳在其中,无需以障碍物为支撑点,直接横跨过障碍物,继而无需担心障碍物扎坏行走轮或卡在支撑腿之间,该跨障行走轮和行走机构可广泛应用于各种行走式机械。


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    Title :

    Obstacle-crossing walking wheel, walking mechanism and method for controlling walking mechanism to cross obstacle


    Additional title:

    一种跨障行走轮、行走机构及其控制行走机构跨障方法


    Contributors:
    BIN GUANGFU (author) / DONG CHUFENG (author) / WANG ZHINENG (author) / LUO JIANYING (author) / LIU HENG (author) / PAN YANG (author) / SHE CHENGQI (author) / LANG YAJUN (author)

    Publication date :

    2022-07-22


    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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