A Deformable Noncircular Rolling Pneumatic Soft Walking Wheel

Abstract

A deformable non-circular rolling pneumatic flexible traveling wheel comprises an outer ring, an inner ring, outer support rods, inner support rods, fluid actuators, air pipes and an air pump. The outline of the outer section of the outer ring is n-regular polygon, the air pump and the inner ring are connected through a plurality of the inner support rods, the outer ring and the inner ring are connected through a plurality of the outer support rods, two fluid actuators are provided on each installation fixing face in parallel, one end of each fluid actuator is fixedly connected with the corresponding installation fixing face, and thus a fixed end is formed; each fluid actuator comprises a strain restricting base layer and an elastomer layer which are fixedly connected, the strain restricting base layer can be in contact with the corresponding installation fixing faces, the elastomer layers can be in contact with the road surface, the elasticity of the elastomer layers is greater than that of the strain restricting base layers, and one air pipe is provided in each elastomer layer. According to the invention, the defect that in the traveling wheel is poor in trafficability and travelling smoothness in a complex environment in the prior art is overcome, the adaptability of the wheel is improved, and high stability is realized.

Description

technical field [0001] The invention relates to a walking mechanism of a robot, in particular to a deformable non-circular rolling pneumatic soft walking wheel. Background technique [0002] With the continuous advancement of scientific exploration, robots need to operate in more complex environments, such as planetary exploration robots, military robots and other mobile robots for field operations. The wild terrain environment may be rough, with rocks or depressions, and the complex terrain tests the robot's travel system. [0003] The current robot walking mechanism is generally composed of rigid materials and adopts circular rolling, such as the all-terrain walking wheel (patent number 201520214064.1) researched and designed by Wuhan University. The middle of this walking wheel is a mechanical wheel with a central axis, and the outside is fixed There are several elastic serrated metal sheets. By changing the position of the connecting rod in the cam of the mechanical wh...

AI Technical Summary

Problems solved by technology

[0011] The technical problem to be solved by the present invention is to provide a deformable non-circular rolling pneumatic soft walking wheel in view of the above-mentioned deficiencies in the prior art. The deformable non-circular rolling pneumatic soft walking wheel can overcome the complex There are disadvantages of poor passability and poor driving stability in the environment, so as to improve the adaptability and good stability of the wheels on complex terrain

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