CN108163071A - A kind of wheel carries out composite deformation wheel - Google Patents
A kind of wheel carries out composite deformation wheel Download PDFInfo
- Publication number
- CN108163071A CN108163071A CN201611113617.XA CN201611113617A CN108163071A CN 108163071 A CN108163071 A CN 108163071A CN 201611113617 A CN201611113617 A CN 201611113617A CN 108163071 A CN108163071 A CN 108163071A
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- wheel
- expansion arm
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- 239000002131 composite material Substances 0.000 title claims abstract description 24
- 230000000712 assembly Effects 0.000 claims abstract description 12
- 238000000429 assembly Methods 0.000 claims abstract description 12
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims description 9
- 230000005611 electricity Effects 0.000 claims 1
- 238000010276 construction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000036544 posture Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005755 formation reaction Methods 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 210000000515 tooth Anatomy 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/24—Tracks of continuously flexible type, e.g. rubber belts
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of wheels to carry out composite deformation wheel, including main wheel apparatus and crawler attachment；Main wheel apparatus includes wheel assemblies and extending arm, and there are two extending arm is set altogether, two extending arms are separately positioned on wheel assemblies both sides；Wheel assemblies include outer wheel disc, interior wheel disc, main shaft, main shaft sleeve, fixed plate, external gear, outer drive gears, internal gear, internal gear wheel and gearing shaft；Extending arm includes expansion arm, expansion arm jockey pulley, electric pushrod pedestal fixing axle, expansion arm fixing axle, expansion arm main wheel and electric pushrod；Crawler attachment includes TV types rubber belt track, spring and crawler belt support shaft, and TV types rubber belt track is formed by saving TV track units, and TV track units include T-type structure unit, V-structure unit and spring retaining plate.This practicality newly improves comprehensive mobile efficiency of the robot under complex road condition, and robot is all greatly improved by performance and cruising ability.
Description
Technical field
The present invention relates to robot running gear technical field, specifically a kind of wheel carries out composite deformation wheel.
Background technology
Currently used robot running gear mainly has two class formations：Wheeled construction and caterpillar belt structure.Wheeled construction has
Have the advantages that fast movement speed, simple structure, convenient control, movement are flexible, but this structure is stronger to the dependence on ground,
It is unsuitable for obstacle detouring, passability is very poor；And caterpillar belt structure is since with larger contact area of ground, obstacle performance is fine, is applicable in
In all kinds of complicated landforms, shortcoming is then that speed is slower, and shape is heavy, and movement is dumb, and energy consumption is very high, very power-consuming.
Some job that requires special skills robots such as disaster relief robot, operating mode crusing robot etc., due to application scenario and work(
Energy demand is special, and robot had not only been needed to have good cross-country ability, but also requires robot movement flexibly, and there is guarantor in cruise duration
Barrier, this is a problem for existing robot running gear, and wheeled construction and caterpillar belt structure can not all be taken into account well
The cross-country ability and working efficiency of robot.
Invention content
The purpose of the present invention is to provide a kind of wheels to carry out composite deformation wheel, to solve mentioned above in the background art ask
Topic.
To achieve the above object, the present invention provides following technical solution：
A kind of wheel carries out composite deformation wheel, including main wheel apparatus and crawler attachment；The main wheel apparatus includes wheel assemblies and stretching, extension
Arm, there are two the extending arm is set altogether, two extending arms are separately positioned on wheel assemblies both sides；The wheel assemblies include outer
Wheel disc, interior wheel disc, main shaft, main shaft sleeve, fixed plate, external gear, outer drive gears, internal gear, internal gear wheel and gear pass
Moving axis；The interior wheel disc end of the main shaft sleeve is fixed on robot chassis, and the main shaft passes through main shaft sleeve, the lubrication groove of main shaft
Disk end is connected to driving mechanism, is rotated by driving mechanism driving spindle, and outer wheel disc end and the outer wheel disc of the main shaft are fixed, outside
Wheel disc is fixedly connected with external gear, and the interior wheel disc is fixedly connected with internal gear, and fixed plate is fixed on main shaft sleeve, fixed plate
Top is provided with through-hole, and the gearing shaft passes through the through-hole of dead plate upper end, and the both ends of gearing shaft connect outside respectively
Transmission gear and internal gear wheel, the external gear are engaged with outer drive gears, and internal gear is engaged with internal gear wheel；In described
Uniform intervals are provided in wheel disc along groove and wheel disc outer groove on wheel disc, and also uniform intervals are provided with wheel on the outer wheel disc
Along groove and wheel disc outer groove in disk；The extending arm include expansion arm, expansion arm jockey pulley, electric pushrod pedestal fixing axle,
Arm fixing axle, expansion arm main wheel and electric pushrod is unfolded；The electric pushrod pedestal fixing axle and expansion arm fixing axle are solid respectively
The top and bottom of fixed plate are scheduled on, electric pushrod top is fixed in electric pushrod pedestal fixing axle, and electric pushrod driving pushes away
Bar, the bottom end of push rod are fixedly attached to push rod end fixing axle, and described expansion arm one end is fixed in expansion arm fixing axle, the other end
Extension is in the air；The expansion arm includes preceding expansion arm and rear expansion arm, between the preceding expansion arm and rear expansion arm in obtuse angle
Intersect, preceding expansion arm and rear expansion arm are integrated, and the preceding expansion arm and rear expansion arm junction are provided with jockey pulley and fix
Axis, the both ends of the jockey pulley fixing axle are rotatablely equipped with expansion arm jockey pulley, and preceding expansion arm top is provided with main wheel fixing axle, described
The both ends of main wheel fixing axle are rotatablely equipped with expansion arm main wheel；The crawler attachment includes TV types rubber belt track, spring and crawler belt
Support shaft, the TV types rubber belt track are formed by saving TV track units, and the TV track units include T-type structure unit, V-type knot
Structure unit and spring retaining plate are fixed on TV crawler belt lists between adjacent two section TV track units with the connections of two springs, spring
On the spring retaining plate of member；A piece crawler belt support shaft is installed at interval of four section TV track units, the crawler belt support shaft is through shoe
Band device, crawler belt support shaft both ends are additionally provided with boss；When the crawler attachment is mounted on main wheel apparatus, TV type rubber belt tracks
V-structure unit V-type protrusion both ends respectively in the wheel disc on the interior wheel disc and outer wheel disc along groove, the crawler belt
For the boss at support shaft both ends respectively in the wheel disc outer groove on interior wheel disc and outer wheel disc, spring retaining plate is stuck in main wheel dress
Among the two expansion arm main wheels put.
As further embodiment of the present invention：The outer wheel disc end of the main shaft is consolidated by main shaft fixed screw and outer wheel disc
Fixed, outer wheel disc is fixedly connected by external gear fixed screw with external gear.
As further scheme of the invention：The diameter of the expansion arm main wheel is more than the diameter of expansion arm jockey pulley.
Compared with prior art, the beneficial effects of the invention are as follows：
Wheel of the invention, which carries out composite deformation wheel, to be a variety of crawler belt postures by the free dilatation of front and rear expansion arm, be unfolded
Angle can regard the different free adjustings of landform, and this wheel carries out composite construction and is suitable for various complex environments and road conditions, and flat
Shi Ze is walked with wheeled posture, mobile flexible, can substantially save robot electric quantity.Application wheel carries out the robot of composite deformation wheel
Comprehensive movement under complex road condition is more efficient, and robot is all greatly improved by performance and cruising ability.
Description of the drawings
Fig. 1 is the structure diagram that wheel carries out composite deformation wheel.
Fig. 2 is that wheel carries out the structure diagram after composite deformation wheel extending arm opens.
Fig. 3 is the stereogram that wheel carries out main wheel apparatus in composite deformation wheel.
Fig. 4 is the internal structure schematic diagram that wheel carries out main wheel apparatus in composite deformation wheel.
Fig. 5 is the sectional view that wheel carries out main wheel apparatus in composite deformation wheel.
Fig. 6 is the stereogram that wheel carries out crawler attachment in composite deformation wheel.
Fig. 7 is the sectional view that wheel carries out crawler attachment in composite deformation wheel.
In figure：1- main wheel apparatus, 2- crawler attachments, the outer wheel discs of 3-, wheel disc in 4-, 5- expansion arm main wheels, 6- expansion arms are auxiliary
Wheel, 7- main shafts, 8- gearing shafts, 9- electric pushrod pedestal fixing axles, 10- expansion arm fixing axles, 11- push rod end fixing axles,
12- jockey pulley fixing axles, 13- main wheel fixing axles, 14- fixed plates, 15- expansion arms, 16- main shaft sleeves, 17- external gears, 18- internal tooths
It takes turns, 19- outer drive gears, 20- internal gear wheels, 21- electric pushrods, 22- push rods, 23- wheel discs outer groove, in 24- wheel discs
Along groove, 25- crawler belt support shafts, 26- springs, 27- spring retaining plates, 28- crawler belt V-structure units, 29- crawler belt T-type structures
Unit, 30- main shaft fixed screws, 31- external gear fixed screws.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment shall fall within the protection scope of the present invention.
Please refer to Fig.1~7, in the embodiment of the present invention, a kind of wheel carries out composite deformation wheel, is filled including main wheel apparatus 1 and crawler belt
Put 2；The main wheel apparatus 1 includes wheel assemblies and extending arm, and there are two the extending arm is set altogether, two extending arms are set respectively
It puts in wheel assemblies both sides；
The wheel assemblies include outer wheel disc 3, interior wheel disc 4, main shaft 7, main shaft sleeve 16, fixed plate 14, external gear 17, outer transmission
Gear 19, internal gear 18, internal gear wheel 20 and gearing shaft 8；The interior wheel disc end of the main shaft sleeve 16 is fixed on machine
It on people chassis, is integrated holding with robot and does not rotate, the main shaft 7 passes through main shaft sleeve 16, and the interior wheel disc end of main shaft 7 connects
To driving mechanism, rotated by driving mechanism driving spindle 7, the outer wheel disc end of the main shaft 7 by main shaft fixed screw 30 with
Outer wheel disc 3 is fixed, and outer wheel disc 3 is fixedly connected by external gear fixed screw 31 with external gear 17, the interior wheel disc 4 and internal gear
18 are fixedly connected, and fixed plate 14 is fixed on main shaft sleeve 16, and 14 top of fixed plate is provided with through-hole, the gearing shaft 8
Across the through-hole of 14 upper end of fixed plate, the both ends of gearing shaft 8 connect outer drive gears 19 and internal gear wheel 20, institute respectively
It states external gear 17 to engage with outer drive gears 19, internal gear 18 is engaged with internal gear wheel 20；Uniform intervals on the interior wheel disc 4
It is provided in wheel disc along groove 24 and wheel disc outer groove 23, also uniform intervals are provided in wheel disc along recessed on the outer wheel disc 3
Slot 24 and wheel disc outer groove 23, wheel disc is interior to be used to fix crawler attachment 2 along groove 24 and wheel disc outer groove 23；
The extending arm includes expansion arm 15, expansion arm jockey pulley 6, electric pushrod pedestal fixing axle 9, expansion arm fixing axle 10, exhibition
Open arms main wheel 5 and electric pushrod 21；The electric pushrod pedestal fixing axle 9 and expansion arm fixing axle 10 are separately fixed at fixed plate
14 top and bottom, 21 top of electric pushrod are fixed in electric pushrod pedestal fixing axle 9,22 driving push rod of electric pushrod
22, the bottom end of push rod 22 is fixedly attached to push rod end fixing axle 11, flexible, the expansion arm of 21 driving push rod 22 of electric pushrod
15 one end are fixed in expansion arm fixing axle 10, and other end extension is described that arm 15 is unfolded in the air so as to realize free activity
Including preceding expansion arm and rear expansion arm, intersect in obtuse angle between expansion arm and rear expansion arm before described, preceding expansion arm and rear expansion
Arm is integrated, and arm is unfolded before described and rear expansion arm junction is provided with jockey pulley fixing axle 12, the jockey pulley fixing axle 12
Both ends be rotatablely equipped with expansion arm jockey pulley 6, it is described before expansion arm top be provided with main wheel fixing axle 13, the main wheel fixing axle
13 both ends are rotatablely equipped with expansion arm main wheel 5, and the diameter of the expansion arm main wheel 5 is more than the diameter of expansion arm jockey pulley 6；By exhibition
Open arms 15 is divided is unfolded arm for preceding expansion arm with rear, and makes in obtuse angle to intersect between preceding expansion arm and afterwards expansion arm, it is therefore an objective to ensure
The minimum point that expansion arm main wheel 5 after arm 15 is carried out completely, expansion arm jockey pulley 6, interior wheel disc 4 and outer wheel disc 3 is unfolded can be in same water
On horizontal line；
The crawler attachment 2 includes TV types rubber belt track, spring 26 and crawler belt support shaft 25, and the TV types rubber belt track is by 36 sections
TV track units are formed, and the TV track units include T-type structure unit 29, V-structure unit 28 and spring retaining plate 27, phase
It is connected between two adjacent section TV track units with two springs 26, spring 26 is fixed on the spring retaining plate 27 of TV track units
On；A piece crawler belt support shaft 25 is installed at interval of four section TV track units, the crawler belt support shaft 25 runs through crawler attachment 2, carries out
25 both ends of band support shaft are additionally provided with boss.
When the crawler attachment 2 is mounted on main wheel apparatus 1, the V-type protrusion of the V-structure unit 28 of TV type rubber belt tracks
Both ends respectively in the wheel disc on the interior wheel disc 4 and outer wheel disc 3 along groove 24, the boss at 25 both ends of crawler belt support shaft
Respectively in the wheel disc outer groove 23 on interior wheel disc 4 and outer wheel disc 3, spring retaining plate 27 is stuck in two of main wheel apparatus 1
It is unfolded among arm main wheel 5.
The present invention operation principle be：
The present invention is used for the walking mechanism of robot, is connected with the driving mechanism of robot, controls the driving mechanism band of robot
Dynamic main shaft 7 rotates, and then outer wheel disc 3 is driven to rotate, and outer wheel disc 3 is connected with external gear 17, and then external gear 17 is driven to rotate, and leads to
Crossing gear engagement drives outer drive gears 19 to rotate, and outer drive gears 19 are connected with internal gear wheel 20 by gearing shaft 8,
And then internal gear wheel 20 is driven to rotate, and it being engaged by gear and internal gear 18 is driven to rotate, internal gear 18 is connected with interior wheel disc 4,
And then wheel disc 4 rotates in driving, and the interior wheel disc 4 of main wheel apparatus 1 and the synchronous rotation of outer wheel disc 3 can be realized in this way.Crawler belt fills
The V-structure unit 28 and prominent crawler belt support shaft 25 for putting 2 are embedded in the wheel disc of main wheel apparatus 1 respectively along groove 24 and wheel disc
In outer groove 23, when main wheel apparatus 1 rotates, crawler attachment 2 can rotate therewith, and realize wheel and carry out composite deformation wheel
Wheeled rolling and crawler belt roll.
In the rotation process for carrying out composite deformation wheel in wheel, the main shaft sleeve 16 for fixing fixed plate 14 is fixed on robot
On domain, therefore, the telescopic arm part being fixed in fixed plate 14 will not be moved with deformation rotation and be rotated.Deformation is carried out when needing to take turns
When, electric pushrod 21 controls push rod 22 flexible, and push rod 22 is fixed in the push rod end fixing axle 11 on expansion arm 15, and arm 15 is unfolded
Set angle can be deployed into the flexible of push rod 22, expansion arm main wheel 5 fixed on arm 15 and expansion arm jockey pulley 6 is unfolded therewith
Expansion, expansion arm main wheel 5 and expansion arm jockey pulley 6 can strut the TV types rubber belt track of crawler attachment 2 and spring 26, carry out wheel compound
Deformation wheel is deformed into required obstacle detouring crawler belt form, realizes wheel and carries out the wheeled form of composite deformation wheel to the change of crawler belt form
Shape.
When needing to be converted into wheeled form, electric pushrod 21 controls push rod 22 to be fully retracted, expansion arm 15, expansion arm master
Wheel 5 and expansion arm jockey pulley 6 are withdrawn therewith, and the TV types rubber belt track of crawler attachment 2 can be automatically shrunk to due to the elasticity of spring 26
Wheeled form, crawler attachment 2 are wrapped in always on main wheel apparatus 1, are realized wheel and are carried out the crawler belt form of composite deformation wheel to wheeled
The deformation of form.
It is obvious to a person skilled in the art that the present invention is not limited to the details of above-mentioned exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Profit requirement rather than above description limit, it is intended that all by what is fallen within the meaning and scope of the equivalent requirements of the claims
Variation is included within the present invention.Any reference numeral in claim should not be considered as to the involved claim of limitation.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in each embodiment can also be properly combined, forms those skilled in the art
The other embodiment being appreciated that.
Claims (3)
1. a kind of wheel carries out composite deformation wheel, which is characterized in that including main wheel apparatus（1）And crawler attachment（2）；The main wheel apparatus
（1）Including wheel assemblies and extending arm, there are two the extending arm is set altogether, two extending arms are separately positioned on wheel assemblies two
Side；The wheel assemblies include outer wheel disc（3）, interior wheel disc（4）, main shaft（7）, main shaft sleeve（16）, fixed plate（14）, external gear
（17）, outer drive gears（19）, internal gear（18）, internal gear wheel（20）And gearing shaft（8）；The main shaft sleeve（16）
Interior wheel disc end be fixed on robot chassis, the main shaft（7）Across main shaft sleeve（16）, main shaft（7）Interior wheel disc end connect
Driving mechanism is connected to, passes through driving mechanism driving spindle（7）Rotation, the main shaft（7）Outer wheel disc end and outer wheel disc（3）Gu
It is fixed, outer wheel disc（3）With external gear（17）It is fixedly connected, the interior wheel disc（4）With internal gear（18）It is fixedly connected, fixed plate（14）
It is fixed on main shaft sleeve（16）On, fixed plate（14）Top is provided with through-hole, the gearing shaft（8）Across fixed plate（14）
The through-hole of upper end, gearing shaft（8）Both ends connect outer drive gears respectively（19）With internal gear wheel（20）, the external tooth
Wheel（17）With outer drive gears（19）Engagement, internal gear（18）With internal gear wheel（20）Engagement；The interior wheel disc（4）It is upper uniform
It is arranged at intervals in wheel disc along groove（24）With wheel disc outer groove（23）, the outer wheel disc（3）On also uniform intervals be provided with
Along groove in wheel disc（24）With wheel disc outer groove（23）；The extending arm includes expansion arm（15）, expansion arm jockey pulley（6）, electricity
Dynamic push rod pedestal fixing axle（9）, expansion arm fixing axle（10）, expansion arm main wheel（5）And electric pushrod（21）；The electric pushrod
Pedestal fixing axle（9）With expansion arm fixing axle（10）It is separately fixed at fixed plate（14）Top and bottom, electric pushrod（21）
Top is fixed on electric pushrod pedestal fixing axle（9）On, electric pushrod（22）Driving push rod（22）, push rod（22）Bottom end fix
It is connected to push rod end fixing axle（11）, the expansion arm（15）One end is fixed on expansion arm fixing axle（10）On, other end extension
In the air；The expansion arm（15）Including preceding expansion arm and rear expansion arm, between the preceding expansion arm and rear expansion arm in obtuse angle
Intersect, preceding expansion arm and rear expansion arm are integrated, and the preceding expansion arm and rear expansion arm junction are provided with jockey pulley and fix
Axis（12）, the jockey pulley fixing axle（12）Both ends be rotatablely equipped with expansion arm jockey pulley（6）, preceding expansion arm top is provided with main wheel
Fixing axle（13）, the main wheel fixing axle（13）Both ends be rotatablely equipped with expansion arm main wheel（5）；The crawler attachment（2）Packet
Include TV types rubber belt track, spring（26）With crawler belt support shaft（25）, the TV types rubber belt track by 36 section TV track units form,
The TV track units include T-type structure unit（29）, V-structure unit（28）And spring retaining plate（27）, adjacent two sections
With two springs between TV track units（26）Connection, spring（26）It is fixed on the spring retaining plate of TV track units（27）On；
A piece crawler belt support shaft is installed at interval of four section TV track units（25）, the crawler belt support shaft（25）Through crawler attachment（2）,
Crawler belt support shaft（25）Both ends are additionally provided with boss；The crawler attachment（2）Mounted on main wheel apparatus（1）When upper, TV type rubber
The V-structure unit of crawler belt（28）V-type protrusion both ends respectively be embedded in interior wheel disc（4）With outer wheel disc（3）On wheel disc in edge
Groove（24）In, the crawler belt support shaft（25）The boss at both ends is embedded in interior wheel disc respectively（4）With outer wheel disc（3）On wheel disc outside
Along groove（23）In, spring retaining plate（27）It is stuck in main wheel apparatus（1）Two expansion arm main wheels（5）It is intermediate.
2. wheel according to claim 1 carries out composite deformation wheel, which is characterized in that the main shaft（7）Outer wheel disc end pass through
Main shaft fixed screw（30）With outer wheel disc（3）It is fixed, outer wheel disc（3）Pass through external gear fixed screw（31）With external gear（17）Gu
Fixed connection.
3. wheel according to claim 1 carries out composite deformation wheel, which is characterized in that the expansion arm main wheel（5）Diameter it is big
In expansion arm jockey pulley（6）Diameter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611113617.XA CN108163071A (en) | 2016-12-07 | 2016-12-07 | A kind of wheel carries out composite deformation wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611113617.XA CN108163071A (en) | 2016-12-07 | 2016-12-07 | A kind of wheel carries out composite deformation wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108163071A true CN108163071A (en) | 2018-06-15 |
Family
ID=62526313
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611113617.XA Pending CN108163071A (en) | 2016-12-07 | 2016-12-07 | A kind of wheel carries out composite deformation wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108163071A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109077866A (en) * | 2018-08-17 | 2018-12-25 | 江苏仁和医疗器械有限公司 | A kind of deformation wheel and its working method, wheelchair |
| CN109941364A (en) * | 2019-04-30 | 2019-06-28 | 浙江小远机器人有限公司 | A kind of wheel shoe composite deformation chassis |
| CN110803227A (en) * | 2019-11-19 | 2020-02-18 | 上海建工四建集团有限公司 | Use method of obstacle-crossing walking device |
| CN110803229A (en) * | 2019-11-19 | 2020-02-18 | 上海建工四建集团有限公司 | Obstacle-crossing walking device |
| CN111196324A (en) * | 2020-01-19 | 2020-05-26 | 江苏建筑职业技术学院 | Hydraulic driving and controlling type wheel-track conversion device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3910263A1 (en) * | 1989-03-30 | 1990-10-04 | Willi Dipl Ing Steuer | Closed chain of settable stiffness, as coupling member between rotary and linear motion |
| CN102849132A (en) * | 2012-03-30 | 2013-01-02 | 中国人民解放军国防科学技术大学 | Wheel-track compound deformation track robot |
| CN105564148A (en) * | 2016-01-19 | 2016-05-11 | 中国人民解放军国防科学技术大学 | Transformable wheel-track hybrid robot |
| CN206218041U (en) * | 2016-12-07 | 2017-06-06 | 北京中联电科技术有限公司 | One kind wheel carries out composite deformation wheel |
-
2016
- 2016-12-07 CN CN201611113617.XA patent/CN108163071A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3910263A1 (en) * | 1989-03-30 | 1990-10-04 | Willi Dipl Ing Steuer | Closed chain of settable stiffness, as coupling member between rotary and linear motion |
| CN102849132A (en) * | 2012-03-30 | 2013-01-02 | 中国人民解放军国防科学技术大学 | Wheel-track compound deformation track robot |
| CN105564148A (en) * | 2016-01-19 | 2016-05-11 | 中国人民解放军国防科学技术大学 | Transformable wheel-track hybrid robot |
| CN206218041U (en) * | 2016-12-07 | 2017-06-06 | 北京中联电科技术有限公司 | One kind wheel carries out composite deformation wheel |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109077866A (en) * | 2018-08-17 | 2018-12-25 | 江苏仁和医疗器械有限公司 | A kind of deformation wheel and its working method, wheelchair |
| CN109941364A (en) * | 2019-04-30 | 2019-06-28 | 浙江小远机器人有限公司 | A kind of wheel shoe composite deformation chassis |
| CN110803227A (en) * | 2019-11-19 | 2020-02-18 | 上海建工四建集团有限公司 | Use method of obstacle-crossing walking device |
| CN110803229A (en) * | 2019-11-19 | 2020-02-18 | 上海建工四建集团有限公司 | Obstacle-crossing walking device |
| CN111196324A (en) * | 2020-01-19 | 2020-05-26 | 江苏建筑职业技术学院 | Hydraulic driving and controlling type wheel-track conversion device |
| CN111196324B (en) * | 2020-01-19 | 2021-04-30 | 江苏中机矿山设备有限公司 | Hydraulic driving and controlling type wheel-track conversion device |
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