The invention provides a pure-rolling and in-situ-steering four-wheel walking device. The device is characterized by mainly consisting of a vehicle body, a front wheel steering mechanism, a profiling mechanism and a rear wheel driving mechanism, wherein the prototype of the front wheel steering mechanism is a four-connecting-rod mechanism having double cranks; and a left front wheel and a right front wheel both can freely rotate around the axes of crank shafts. Two rear wheels are driven by adopting an independent drive electronic differential speed principle, so that the steering relationship between the front and rear wheels can accord with the requirements of an Ekman motion model, and the pure-rolling steering is realized. The device realizes pure rolling to reduce the tire wear, has the profiling capability and the soft ground passing capacity, and can enable a vehicle body to be steered in situ around the middle point of a connecting line of the rear wheels.
Pure-rolling and in-situ-steering four-wheel walking device
2015-12-16
Patent
Electronic Resource
English
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |