Wheel with variable center position applied to robot and method for adjusting center position

Abstract

A variable vehicle wheel applied to the center position of a robot and a center position adjusting method comprise an outer wheel ring, a universal transmission mechanism and a self-aligning mechanism. The universal transmission mechanism comprises a connecting disc, a connecting shaft, a transmission rod and a driving shaft; the connecting disc is coaxially fixed to the periphery of the connecting shaft in a sleeved mode and is fixedly connected with the outer wheel ring; the length of the transmission rod is telescopic, one end of the transmission rod is movably connected with the connecting shaft, and the other end is movably connected with the transmission shaft; the aligning mechanism comprises an inner wheel ring and a plurality of linear telescopic devices; the inner wheel ring is coaxially fixed to the transmission shaft in a sleeved mode and can be fixedly connected with a rack; the inner wheel ring serves as the center for multiple linear telescopic devices, and the linear telescopic devices are distributed between the outer wheel ring and the inner wheel ring in a radiating shape; and one end of each linear telescopic device is hinged to the outer wheel ring, and the other end of each linear telescopic device is hinged to the inner wheel ring. The variable vehicle wheel applied to the center position of the robot and the center position adjusting method can realize dynamic control of the center position of the driving shaft in a wheel, and can greatly improve the walking adaptability in a complex environment of the robot.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a wheel with a variable center position applied to a robot and a method for adjusting the center position. Background technique [0002] With the advancement of science and technology, the robot walking mechanism has begun to be applied, but the existing robot walking mechanism has poor adaptability to the road surface due to the limitation of the structure. Limited, cannot be fully promoted. With the deepening of robot research, the wheels of robots are currently supported by elastic suspensions. However, such wheels have poor absorption capacity for rough roads, which still cannot improve the walking adaptability of robots in complex environments. Contents of the invention [0003] The technical problem to be solved by the present invention is to provide a wheel with a variable center position applied to a robot for the above-mentioned deficiencies in the prior art. The wheel...

AI Technical Summary

Problems solved by technology

[0002] With the advancement of science and technology, the robot walking mechanism has begun to be applied, but the existing robot walking mechanism has poor adaptability to the road surface due to the limitation of the structure. Restricted, cannot be fully promoted

With the deepening of robot research, the wheels of robots are currently supported by elastic suspensions. However, the rough road surface of this kind of wheels has poor absorption capacity, which still cannot improve the walking adaptability of robots in complex environments.

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