A compact walking device for an autonomous mobile machine is composed of a steering system and a walking system, and is characterized in that according to the steering system, a steering motor outputs torque to drive a slewing bearing outer gear disc to rotate through a steering speed reducer and a steering pinion, so that a connecting plate and a supporting seat which are connected with the slewing bearing outer gear disc are driven to rotate; and finally, the tire rotates around the center of the pivotal bearing. The structural form and the size of the walking device are extremely compact, and under the condition that the rotation diameter is small, the installation height is low, the transmission structure is compact, and the overall size is extremely compact, the obstacle crossing performance and the ridge crossing performance are good. The transmission structure is simple, the production cost is low, modular design is achieved, all modules are easy to disassemble and replace, and maintainability is good.
一种用于自主移动机器的紧凑型行走装置,由转向系统和行走系统两部分组成,其特征在于,转向系统包括:转向电机输出扭矩通过转向减速机、转向小齿轮,带动回转轴承外齿轮盘旋转,从而带动与其连接的连接板、支撑座旋转,最终传递到轮胎围绕回转轴承的中心旋转。行走装置结构形式、尺寸做到的极其紧凑,在回转直径较小的情况下,也做到了安装高度低,传动结构紧凑,整体尺寸极度紧凑情况下,越障、过坎性能较好。传动结构简单,生产成本低,模块化设计,各模块易于拆卸,容易更换,维护性好。
Compact walking device for autonomous mobile machine
一种用于自主移动机器的紧凑型行走装置
2024-03-19
Patent
Electronic Resource
Chinese