一种新型轮履耦合机构的研究及其运用

Research and Application of New Wheel-track Coupling Mechanism

针对目前城市、沼泽等复杂地形对小型越野机器人的运动需求,将轮式的高机械效率与履带的高通过性等优点相结合,得到一种新型的移动机构。此机构将主轴与轮板进行轴向固定作为轮式运行,履带式运行则通过空套安装在轮板内的主轴上带动主动轮运行。利用舵机同时带动两套离合器完成对轮板与主轴的结合与分离,其特点是结构非常紧凑,可快速转换运动方式,且轮子内部不存在原动件。

To meet the present demand of swamp and other complex terrain for small cross-country robot movement,the advantages of wheel high mechanical efficiency and crawler high trafficability are combined to abtain a new mobile mechanism,with which its main shaft and wheel plate for axial fixation function as a running wheel,while its crawler operates with driving wheel driven by a spindle installed in the wheel plate with an empty sleeve.The steering gear is applied to drive two sets of clutches simultaneously to complete the combination and separation of the wheel plate and the spindle,which is characterized of highly compact structure and quick changing mode of movement without original moving part in the wheel.