The invention discloses a modular reconfigurable wheel claw walking mechanism which comprises a wheel claw metamorphic mechanism and a modular reconfigurable frame. The wheel claw metamorphic mechanism comprises a rim frame, an overhanging mechanism rack, a driving steering engine, a central driving gear, a central fixing sheet, a central fixing support, an elastic element and the like; the modularized reconfigurable vehicle frame comprises a steering engine support, a modularized vehicle body single-wheel support, a vehicle frame connecting piece, a plug-in mother board and the like. The wheel type obstacle crossing structure can adapt to more dynamic and changeable application scenes, and the working efficiency and range of the wheel type structure are improved to the maximum extent on the premise that the improvement cost is low; meanwhile, the device is simple in structure, and has the characteristics of modularization and easy assembly while multiple actuators are not needed; the transformation of the metamorphic mechanism is realized by using the elastic element, so that the reliability is improved; and a simple and easy-to-use modular function is achieved through the quick release mechanism, the dynamic development requirement of a modern robot is met, and the customization degree is high.

    本发明公开了一种模块化可重构轮爪行走机构,包括轮爪变胞机构、模块化可重构车架;轮爪变胞机构包括轮圈框架、外伸机构齿条、驱动舵机、中心驱动齿轮、中心固定片、中心固定支撑、弹性元件等;模块化可重构车架包括舵机支架、模块化车体独轮支架、车架间连接件、插接母板等。本发明使得轮式越障结构可以适应更加动态化多变的应用场景,在改进成本较低的前提下,最大程度的提高了轮式结构的工作效率和范围;同时,本发明结构简单,在无需多加执行器的同时具备模块化易装配的特性;利用弹性元件实现变胞机构的变换,提高了可靠性;通过快拆机构实现了简单易用的模块化功能,适应现代机器人的动态化开发需求,客制化程度高。


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    Title :

    Modularized reconfigurable wheel claw walking mechanism


    Additional title:

    一种模块化可重构轮爪行走机构


    Contributors:
    SUN ZHIBO (author) / CHEN PINRU (author) / LI ZHILONG (author) / WANG YIXUAN (author) / LU QIYU (author) / HU ZHIWEN (author) / LI PEIYUAN (author)

    Publication date :

    2023-03-14


    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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