The invention discloses a same-arm double-wheel walking mechanism with an obstacle crossing function, and belongs to the technical field of machinery. Comprising a wheel set support, a planetary swing arm assembly, a driving wheel assembly and a driven wheel assembly. The planetary swing arm assembly comprises a swing arm supporting main shaft, a swing arm frame and a transition gear. One end of the swing arm supporting main shaft is fixedly connected with the wheel set support, the swing arm frame and the transition gear are both rotationally connected to the swing arm supporting main shaft, and the driving wheel assembly and the driven wheel assembly are connected to the two ends of the swing arm frame through a driving wheel supporting shaft and a driven wheel supporting shaft respectively. A driving wheel gear in the driving wheel assembly and a driven wheel gear in the driven wheel assembly are both meshed with the transition gear. According to the same-arm double-wheel walking mechanism, obstacle crossing can be achieved without switching the walking modes, the inspection robot with the walking mechanism can passively adapt to the terrain, the wheel set posture can be adjusted, and the inspection robot can rapidly advance in a wheel mode on a common flat road surface or a rugged road surface full of obstacles.
本发明公开了一种具备越障功能的同臂双轮行走机构,属于机械技术领域。包括轮组支架、行星摆臂组件、主动轮组件和被动轮组件;行星摆臂组件包括摆臂支撑主轴、摆臂架和过渡齿轮;摆臂支撑主轴一端与轮组支架固定连接,摆臂架和过渡齿轮均转动连接在摆臂支撑主轴上,主动轮组件和被动轮组件分别通过主动轮支撑轴和被动轮支撑轴连接在摆臂架的两端,主动轮组件中的主动轮齿轮和被动轮组件中的被动轮齿轮均与过渡齿轮啮合。本发明同臂双轮行走机构不切换行走模式即可实现越障,具备该行走机构的巡检机器人能够被动适应地形,调整轮组姿态,无论是在普通平坦路面还是布满障碍物的崎岖路面上都能快速以轮式行进。
Same-arm double-wheel walking mechanism with obstacle crossing function
一种具备越障功能的同臂双轮行走机构
2023-06-16
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Wheel-leg combined type obstacle crossing walking mechanism
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