The invention provides a wheel-track interchangeable deformable hub of an all-terrain robot, the deformable hub comprises a power gear, a deformation mechanism and a track transmission mechanism, the deformation mechanism comprises a driving disc, a plurality of moving rods arranged around the driving disc and a plurality of deformation hub assemblies, the multiple movable rods can enable the multiple deformation hub assemblies to be unfolded or folded. The crawler belt transmission mechanism comprises a crawler belt and a crawler belt driving wheel; the crawler belt sleeves the plurality of deformation hub assemblies; and the power gear and the driving disc are coaxially arranged. According to the implementation mode, in response to the fact that the multiple deformation hub assemblies are unfolded, the deformable hubs are in a wheel type form, all the moving rods are connected with the multiple protruding blocks arranged on the power gear in a one-to-one correspondence mode, and the power gear can drive the deformation mechanism and the crawler belt to rotate; in response to closure of the plurality of deformation hub assemblies, the deformable hubs are in a track form, the moving rods are separated from the convex blocks, and each track driving wheel is engaged with the power gear. Therefore, the switching between the wheel form and the track form is realized.
本发明提供了一种全地形机器人的轮履互换的可变形轮毂,该可变形轮毂包括动力齿轮、变形机构以及履带传动机构,变形机构包括驱动盘、环绕驱动盘设置的多个移动杆以及多个变形轮毂组件,多个移动杆能够使多个变形轮毂组件撑开或者合拢;履带传动机构包括套置到多个变形轮毂组件的履带以及履带驱动轮;动力齿轮与驱动盘同轴设置。该实施方式响应于多个变形轮毂组件撑开,可变形轮毂处于轮式形态,每个移动杆与设置到动力齿轮的多个凸起块一一对应地接合,动力齿轮能够带动变形机构和履带转动;响应于多个变形轮毂组件合拢,可变形轮毂处于履带形态,移动杆与凸起块分离,每个履带驱动轮与动力齿轮啮合。进而实现了轮、履形态的切换。
Wheel-track interchangeable deformable hub of all-terrain robot
一种全地形机器人的轮履互换的可变形轮毂
2024-06-25
Patent
Electronic Resource
Chinese
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