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Wheel web type integrated travelling mechanism

A technology of traveling mechanism and deformation mechanism, applied in the field of robotics, can solve the problems of insufficient deformation of hinge joints, large extrusion interference, etc., and achieve the effect of avoiding interference and smooth movement.

Active Publication Date: 2018-01-12
CHONGQING UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

If this device is used as a deformation element, the deformation will not be in place at the hinge, and there will be strong extrusion interference and large friction on the whole.

Method used

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  • Wheel web type integrated travelling mechanism
  • Wheel web type integrated travelling mechanism
  • Wheel web type integrated travelling mechanism

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Experimental program
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Embodiment Construction

[0023] figure 1 It is a structural schematic diagram of the present invention; figure 2 It is a schematic diagram of the time structure of the deformation joint of the present invention; image 3 It is a cross-sectional view of the deformed leg of the present invention when it is in an arc shape, as shown in the figure: the web-type integrated traveling mechanism of this embodiment includes a deformed leg with a chain structure and a deformation mechanism for driving the deformation of the deformed leg The deformed leg includes a plurality of deformed sections hinged in sequence, and the deformed section has an arc-shaped chute arranged longitudinally along the deformed leg; the deformed mechanism includes a slider chain formed by hinged sequentially of a plurality of arc-shaped sliders 3 And a deformation drive mechanism for driving the slider chain to slide back and forth in the arc-shaped chute of the deformation leg; the wheel-fin type integrated traveling mechanism of t...

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Abstract

The invention discloses a wheel web type integrated travelling mechanism. The wheel web type integrated travelling mechanism comprises a deformation leg of a chain structure and a deformation mechanism used for driving the deformation leg; the deformation leg comprises a plurality of deformation joints hinged sequentially, and the deformation joints are provided with arc sliding grooves formed inthe longitudinal direction of the deformation leg; and the deformation mechanism comprises a sliding chain and a deformation driving mechanism, wherein the sliding chain is formed by hinging a plurality of arc sliding blocks sequentially, and the deformation driving mechanism is used for driving the reciprocating sliding of the sliding chain in the arc sliding grooves of the deformation leg. According to the wheel web type integrated travelling mechanism, the arc sliding blocks and the arc sliding grooves can be concentric completely, the smooth, accurate and quick deformation of a robot is ensured, resistance borne by the robot in the deformation process is reduced, and the phenomenon of unfinished deformation is avoided.

Description

technical field [0001] The invention relates to the field of robots, in particular to a webbed integrated traveling mechanism. Background technique [0002] At present, amphibious robots are roughly divided into two types: one uses two sets of traveling mechanisms, which need to be replaced artificially in different environments; the other does not need to replace the mechanism, but can only crawl underwater or float on the water surface, and cannot It is not a real amphibious robot that truly realizes free snorkeling and traveling in the underwater environment. [0003] For the ground traveling mechanism, there are currently three main types: wheel type, leg type and crawler type. Among them, the wheel type travels fast, but its ability to overcome obstacles is poor; the crawler type has a strong load capacity and excellent climbing performance, but its moving speed is slow; the leg type can well adapt to various complex terrains, and its ability to overcome obstacles is e...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60F3/00
Inventor 柏龙马朝阳陈晓红侯军占段文博胡浩
Owner CHONGQING UNIV
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