The invention provides an obstacle crossing walking device, and belongs to the technical field of walking devices. The device comprises a contact wheel, contact wheel climbing teeth are arranged on a contact rim on the contact wheel, and a contact spoke of the contact wheel deviates from the center of the contact rim; the driving bearing wheel is fixed on the driving wheel shaft, and the bottom end of the driving bearing wheel is contacted with the inner surface of the contact rim; the bottom end of the free climbing wheel is meshed with the contact wheel climbing teeth, the free climbing wheel can freely rotate around the driving wheel shaft, and the end face of the free climbing wheel is provided with a free climbing wheel end face spline; an end face spline on the climbing transmission disc is meshed with an end face spline of the free climbing wheel, and the climbing transmission disc is meshed with an axial spline on the driving wheel shaft; one end of the climbing driving disc driving reed is connected with the end face of the free climbing wheel, and the other end of the climbing driving disc driving reed is connected with the end face of the climbing driving disc; and the driving device is used for driving the end face spline on the climbing transmission disc to be meshed with the end face spline of the free climbing wheel. The load-bearing function and the climbing function can be separated, and the climbing function can be controlled in a clutch mode.
本发明提供了越障行走装置,属于行走装置技术领域。本发明包括接触轮,接触轮上的接触轮辋上布置有触轮攀爬齿,接触轮的接触轮辐偏离接触轮辋的中心;主动承重轮,固定于主动轮轴上,且底端与接触轮辋的内表面接触;自由攀爬轮,底端与接触轮攀爬齿相啮合,且能够绕主动轮轴自由转动,端面上设置有自由攀爬轮端面花键;攀爬传动盘,其上的端面花键与自由攀爬轮端面花键相啮合,其与主动轮轴上的轴向花键相啮合;攀爬传动盘驱离簧片,其一端与自由攀爬轮的端面相连接,另一端与攀爬传动盘的端面相连接;驱动装置,其用于驱动攀爬传动盘上的端面花键与自由攀爬轮端面花键相啮合。本发明能够实现承重功能和攀爬功能分开且攀爬功能可离合控制。
Obstacle-crossing walking device
越障行走装置
2024-03-22
Patent
Electronic Resource
Chinese
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