The invention provides a gait-adjustable wheel-track switching walking mechanism. The gait-adjustable wheel-track switching walking mechanism comprises a wheel-track system; a traction power system which drives the wheel-track system to walk; a gait power system which is used for adjusting gaits and realizing wheel-track conversion; and a cantilever frame which is used for fixing the traction power system and the gait power system, wherein the gait power system comprises a gait servo motor, a gait speed reducer and a large gear ring which are in transmission connection in sequence, and the large gear ring is fixedly connected with the wheel-track retainer of the wheel-track system and can drive the wheel-track retainer to rotate by 360 degrees. The walking mechanism can be freely switchedbetween a wheel type walking mode and a crawler type walking mode; high-speed driving on a normal pavement can be realized; the walking mechanism has good trafficability in complex environments such as slope climbing, ditch crossing and obstacle crossing, and meanwhile, the walking mechanism can freely change the height of the wheel shaft from the ground within a certain range, so that the groundclearance of the maneuvering platform equipped with the walking mechanism can be freely adjusted, and the trafficability of the maneuvering platform is further enhanced.

    本发明提供一种步态可调的轮履转换行走机构,包括轮履系统;驱动轮履系统行走的牵引动力系统;调整步态及实现轮履转换的步态动力系统;以及用于固定牵引动力系统和步态动力系统的悬臂框架;所述步态动力系统包括依次传动连接的步态伺服电机、步态减速机和大齿圈,该大齿圈与轮履系统的轮履保持架固定连接、并能够带动轮履保持架进行360度的旋转。本发明行走机构可以在轮式和履带式行走形式间自由切换,能够在正常的铺装路面高速行驶,在爬斜坡、跨壕沟、过障碍等复杂环境下具有良好的通过性,同时该行走机构能够在一定范围内自由变换轮轴离地高度,因此装备该行走机构的机动平台能够自由调整离地间隙,进一步地增强了机动平台的通过性。


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    Title :

    Gait-adjustable wheel-track switching walking mechanism


    Additional title:

    一种步态可调的轮履转换行走机构


    Contributors:
    DING YI (author) / XIE HONGRU (author) / LIANG HUAWEI (author) / WANG KUN (author) / TAO XIANG (author) / SUN CHAO (author)

    Publication date :

    2020-04-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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