The invention discloses a spoked wheel mechanism capable of achieving stable wheel type movement, and belongs to the field of wheel-legged robots. A spoked wheel mechanism capable of achieving stable wheel type movement comprises a power machine fixed to a robot body, a transmission shaft is coaxially fixed to an output shaft of the power machine, a cylindrical rotating center is fixed to one end of the transmission shaft, a plurality of spokes are evenly fixed to the rotating center in the circumferential direction, and the ends of the spokes are slidably connected with foot ends. The sliding direction is parallel to the axial direction of the spokes, and the spokes and the foot ends are in elastic sliding connection by arranging compression springs; when the transmission shaft rotates, the foot end touches the ground and is stressed, and the foot end and the spoke overcome the elastic force of the compression spring and relatively move in the axial direction of the spoke. Moreover, under the buffering action of the compression spring, the distance between the axis of the transmission shaft and the ground is kept unchanged in the rotating process, and stable wheel type movement of the spoked wheel mechanism on the horizontal terrain is achieved.
本发明公开一种可实现平稳轮式运动的辐条轮机构,属于轮腿机器人领域;一种可实现平稳轮式运动的辐条轮机构,包括固定在机器人机体上的动力机,动力机的输出轴上同轴固定有传动轴,传动轴的一端固定有呈圆柱状的转动中心,转动中心周向均匀固定有多个辐条,辐条的端部滑动连接有足端,且滑动方向与辐条的轴向平行,辐条与足端之间通过设置压缩弹簧来实现弹性滑动连接;传动轴转动时,足端触地受力,足端和辐条克服压缩弹簧的弹力沿着辐条的轴向发生相对移动;并且,在压缩弹簧的缓冲作用下,转动过程中传动轴的轴心离地距离保持不变,实现了辐条轮机构在水平地形上的平稳轮式运动。
Spoked wheel mechanism capable of achieving stable wheel type movement
一种可实现平稳轮式运动的辐条轮机构
2023-03-21
Patent
Electronic Resource
Chinese
IPC: | B60B VEHICLE WHEELS , Räder für Fahrzeuge |