The half-wheel foot type obstacle crossing mechanism comprises a main shaft, an inner wheel arm and an outer wheel arm, the inner wheel arm and the outer wheel arm are rotationally connected to the main shaft, an inner half wheel and an inner half wheel driving motor used for driving the inner half wheel to rotate are installed on the inner wheel arm, and an outer half wheel and an outer half wheel driving motor used for driving the outer half wheel to rotate are installed on the outer wheel arm; a swing arm driving motor for driving the inner wheel arm to swing is arranged on the main shaft, and a coaxial reverse rotation mechanism for controlling the inner wheel arm and the outer wheel arm to move reversely all the time is further arranged on the main shaft; the inner half wheel or the outer half wheel is provided with a driving parallel connection device for connecting the inner half wheel and the outer half wheel in parallel to work; a climbing included angle alpha convenient for the inner half wheel and the outer half wheel to climb is formed between the inner wheel arm and the outer wheel arm; compared with the prior art, by designing the obstacle crossing mechanism formed by combining the two half wheels in a foot mode, the loading capacity and the acceleration capacity of the obstacle crossing mechanism are completely equal to those of a wheel type structure, the obstacle crossing flexibility of the obstacle crossing mechanism is close to that of a foot type structure, and large-load obstacle crossing work can be achieved on the premise that the weight of the obstacle crossing mechanism is light.

    一种半轮足式越障机构及越障车,包括主轴和转动连接于主轴上的内轮臂和外轮臂,所述内轮臂上安装有内半轮和用于驱动内半轮转动的内半轮驱动电机,外轮臂上安装有外半轮和用于驱动外半轮转动的外半轮驱动电机;主轴上设有带动内轮臂摆动的摆臂驱动电机,主轴上还设有控制内轮臂和外轮臂始终反向运动的共轴反转机构;所述内半轮或外半轮上安装有并联内半轮和外半轮工作的驱动并联器;所述内轮臂和外轮臂之间形成有便于内半轮和外半轮爬坡的爬坡夹角α;与现有技术相比,通过设计两个半轮足式相结合的越障机构,使得该越障机构载重能力和加速能力完全等同于轮式结构,而越障灵活性接近于足式结构,并能在本身轻量化的前提下实现大负载的越障工作。


    Access

    Download


    Export, share and cite



    Title :

    Half-wheel foot type obstacle crossing mechanism and obstacle crossing vehicle


    Additional title:

    一种半轮足式越障机构及越障车


    Contributors:
    SUN XIAOPING (author) / ZHANG YU (author) / RUAN XIANG (author) / SHI LIANG (author)

    Publication date :

    2023-10-31


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



    Wheel leg type obstacle crossing mechanism and obstacle crossing robot

    CHEN CHENG / DENG JIE / HU ZHE et al. | European Patent Office | 2020

    Free access

    Crossing type obstacle crossing device and obstacle crossing method

    WANG GUISHAN / LIU JIN / LI YINGHONG et al. | European Patent Office | 2024

    Free access

    Posture adjusting method and equipment of half-wheel foot type obstacle crossing mechanism and medium

    SUN XIAOPING / YE MAO / LYU QIUPING et al. | European Patent Office | 2024

    Free access

    Eight-wheel hinged obstacle crossing vehicle

    JIA XIAOPING / YU KUILONG / LI JIONG et al. | European Patent Office | 2015

    Free access

    Double ratchet wheel type telescopic obstacle-crossing support arm and obstacle-crossing robot

    HAO YONGXIN / WANG HAIPENG / LUAN YIQING et al. | European Patent Office | 2015

    Free access