SMOOTH OBSTACLE-CROSSING WALKING MECHANISM

Abstract

The present disclosure belongs to the technical field of walking mechanisms, and provides a smooth obstacle-crossing walking mechanism, which can provide strong smooth obstacle crossing capability, meanwhile, maintains lower friction loss and higher efficiency, and is suitable for most daily use situations. A smooth obstacle-crossing walking mechanism includes a driving wheel and a contact wheel. The driving wheel has a wheel diameter lower than that of the contact wheel. The driving wheel compresses an inner edge of the contact wheel under gravity. The contact wheel is in contact with the ground surface. When the driving wheel rotates actively, it walks along the inner edge of the contact wheel under the frictional force with the contact wheel. The contact wheel rolls forwards under a pressure and the frictional force of the driving wheel, so as to enable the smooth obstacle-crossing walking mechanism to walk.

Claims

1. A smooth obstacle-crossing walking mechanism, comprising a driving wheel and a contact wheel, wherein the driving wheel has a wheel diameter lower than that of the contacting wheel; the driving wheel rotates around its own axle under a driving force; the driving wheel compresses an inner side of the contact wheel under a gravity of a vehicle body; the contact wheel is in contact with ground surface; when the driving wheel rotates actively, and in turn walks along an inner edge of the contact wheel under a frictional force with the contact wheel; the contact wheel rolls forwards under a pressure and the frictional force of the driving wheel, so as to enable the smooth obstacle-crossing walking mechanism to walk; the axle of the driving wheel is connected and fixed to an axle of the contact wheel via a connecting piece; the connecting piece is connected to the axle of the driving wheel via a bearing or a bearing bush; the connecting piece is connected to the axle of the contact wheel via a bearing or a bearing bush; the connecting piece allows the axle of the driving wheel and the axle of the contact wheel to be parallel to each other and the relative distance therebetween to be maintained unchanged, and allows good contact between the driving wheel and the contact wheel under conditions of traveling, steering, obstacle crossing, and bumping.

2. The smooth obstacle-crossing walking mechanism according to claim 1, wherein the smooth obstacle-crossing walking mechanism is provided with a plurality of auxiliary wheels; the plurality of auxiliary wheels are connected to the driving wheel through fixing pieces; the fixing pieces rotate around the axle of the driving wheel; the fixing pieces fix relative positions between the plurality of auxiliary wheels and the driving wheel; the auxiliary wheels rotate freely or have driving capability; the auxiliary wheels are used for assisting in strengthening a structural strength of the contact wheel; the active driving capability of the auxiliary wheels increases frictional forces between the auxiliary wheels and the contact wheel, and in turn increases whole driving capability.

3. The smooth obstacle-crossing walking mechanism according to claim 2, wherein the axle of the driving wheel, the auxiliary wheels, the fixing pieces, and the axle of the contact wheel are connected together through the connecting piece.

4. The smooth obstacle-crossing walking mechanism according claim 1, wherein the driving wheel is engaged with the contact wheel through a first gear structure.

5. The smooth obstacle-crossing walking mechanism according to claim 2, wherein the driving wheel is engaged with the contact wheel through a first gear structure.

6. The smooth obstacle-crossing walking mechanism according to claim 3, wherein the driving wheel is engaged with the contact wheel through a first gear structures.

7. The smooth obstacle-crossing walking mechanism according to claim 1, wherein the auxiliary wheels are engaged with the contact wheel through second gear structures.

8. The smooth obstacle-crossing walking mechanism according to claim 2, wherein the auxiliary wheels are engaged with the contact wheel through second gear structures.

9. The smooth obstacle-crossing walking mechanism according to claim 3, wherein the auxiliary wheels are engaged with the contact wheel through second gear structures.

10. The smooth obstacle-crossing walking mechanism according to claim 4, wherein the auxiliary wheels are engaged with the contact wheel through third gear structures.

11. The smooth obstacle-crossing walking mechanism according to claim 5, wherein the auxiliary wheels are engaged with the contact wheel through third gear structures.

12. The smooth obstacle-crossing walking mechanism according to claim 6, wherein the auxiliary wheels are engaged with the contact wheel through third gear structures.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0013] FIG. 1 is a schematic diagram showing embodiment 1 of a smooth obstacle-crossing walking mechanism of the present disclosure;

[0014] FIG. 2 is a schematic diagram of embodiment 1 of the smooth obstacle-crossing walking mechanism of the present disclosure during crossing an obstacle;

[0015] FIG. 3 is a schematic diagram showing embodiment 2 of the smooth obstacle-crossing walking mechanism of the present disclosure;

[0016] FIG. 4 is a schematic diagram of embodiment 2 of the smooth obstacle-crossing walking mechanism of the present disclosure during crossing the obstacle;

[0017] FIG. 5 is a schematic diagram showing embodiment 3 of the smooth obstacle-crossing walking mechanism of the present disclosure;

[0018] FIG. 6 is a schematic diagram showing embodiment 4 of the smooth obstacle-crossing walking mechanism of the present disclosure; and

[0019] FIG. 7 is a schematic diagram showing embodiment 5 of the smooth obstacle-crossing walking mechanism of the present disclosure;

[0020] Reference numerals in drawings: 1 driving wheel; 2 contact wheel; 3 connecting piece; 4 auxiliary wheel; 5 fixing piece.

DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] Specific embodiments of the present disclosure will be described below in detail with reference to technical solutions and accompanying drawings.

[0022] Specific embodiments of the present disclosure are described with reference to FIG. 1. A driving wheel 1 has a relatively small wheel diameter, and a contact wheel 2 has a relatively large wheel diameter. The driving wheel 1 may rotate around its own axle under a driving force. The driving wheel 1 compresses an inner side of the contact wheel 2 under the gravity of a vehicle body. The contact wheel 2 is in contact with the ground surface. When the driving wheel 1 rotates actively, it walks along the inner edge of the contact wheel 2 under the frictional force with the contact wheel 2. The contact wheel 2 rolls forwards under the actions of the pressure and the frictional force of the driving wheel 1, so as to realize the walking of the smooth obstacle-crossing walking mechanism.

[0023] Specific embodiments of the present disclosure are described with reference to FIG. 3. The axle of the driving wheel 1 is connected and fixed to the axle of the contact wheel 2 via a connecting piece 3. The connecting piece 3 is connected to the axle of the driving wheel 1 via a bearing or a bearing bush. The connecting piece 3 is connected to the axle of the contact wheel 2 via a bearing or a bearing bush. The connecting piece 3 ensures that the axle of the driving wheel 1 and the axle of the contact wheel 2 are parallel to each other and the relative distance therebetween is maintained unchanged, and ensures good contact between the driving wheel 1 and the contact wheel 2 under the conditions of traveling, steering, obstacle crossing, bumping and the like.

[0024] Specific embodiments of the present disclosure are described with reference to FIG. 5. The smooth obstacle-crossing walking mechanism may be provided with multiple auxiliary wheels 4. The multiple auxiliary wheels 4 are connected to the driving wheel 1 through fixing pieces 5. The fixing pieces 5 are connected to the axle of the driving wheel 1 via bearings or bearing bushes. The fixing pieces 5 fix the relative positions between the multiple auxiliary wheels 4 and the driving wheel 1. The auxiliary wheels 4 may rotate freely or may have the active driving capability. The multiple auxiliary wheels 4 have the main effect of assisting in strengthening the structural strength of the contact wheel 2. If the multiple auxiliary wheels 4 have the active driving capability, then the multiple auxiliary wheels 4 may also have the effects of increasing the frictional force with the contact wheel 2, thereby increasing the driving capability.

[0025] Specific embodiments of the present disclosure are described with reference to FIG. 6. The axle of the driving wheel 1, the multiple auxiliary wheels 4, the fixing pieces 5, and the axle of the contact wheel 2 are connected together through the connecting piece 3. The connecting piece 3 is connected to the axle of the driving wheel 1 via a bearing or a bearing bush. The connecting piece 3 is connected to the axle of the contact wheel 2 via a bearing or a bearing bush. The connecting piece 3 ensures that the axle of the driving wheel 1 and the axle of the contact wheel 2 are parallel to each other and the relative distance is maintained unchanged.

[0026] Specific embodiments of the present disclosure are described with reference to FIG. 7. The driving wheel 1 may be engaged with the contact wheel 2 through a gear structure.

[0027] Specific embodiments of the present disclosure are described with reference to FIG. 3, FIG. 5, and FIG. 6. The multiple auxiliary wheels 4 may be engaged with the contact wheel 2 through gear structures.