The invention provides a wheel leg combined type obstacle crossing travelling mechanism, and belongs to the technical field of vehicle travelling. The wheel leg combined type obstacle crossing travelling mechanism comprises a drive gear, a vehicle wheel support, a vehicle wheel, a left drive shaft, a right drive shaft, a first unidirectional end tooth ring, a bidirectional end tooth ring, a second unidirectional end tooth ring, a compression spring, a disk-shaped torque transducer, a first annular electromagnetic chuck, a second annular electromagnetic chuck, a first cylindrical gear, a second cylindrical gear, a rotation arm shaft, a rotation arm box, a first rotation arm gear, a second rotation arm gear, an obstacle crossing shaft, an obstacle crossing rod, a first return spring and a second return spring. According to the wheel leg combined type obstacle crossing travelling mechanism, the bidirectional end tooth ring uses a spline pair to achieve axial movement under action of the disk-shaped torque transducer, the first annular electromagnetic chuck, the second annular electromagnetic chuck and the compression spring, can be meshed with the first unidirectional end tooth ring or the second unidirectional end tooth ring, and then achieves a wheel type travelling function for the whole wheel leg combined type obstacle crossing travelling mechanism on flat ground or achieves a leg type obstacle crossing function for the whole wheel leg combined type obstacle crossing travelling mechanism in front of an obstacle. The wheel leg combined type obstacle crossing travelling mechanism can be used in a travelling system of an obstacle crossing vehicle or robot.


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    Title :

    Wheel leg combined type obstacle crossing travelling mechanism


    Contributors:
    WANG YONGMING (author) / YE JUN (author) / YU XIAOLIU (author)

    Publication date :

    2015-09-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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