The invention relates to the technical field of vehicle walking, and discloses a wheel-leg combined type obstacle crossing walking mechanism which comprises a wheel axle, a plurality of walking mechanisms fixedly arranged on the wheel axle and extending in the radial direction of the wheel axle, torque sensors fixedly arranged at the tail ends of the walking mechanisms and telescopic pneumatic tires coaxially arranged with the wheel axle. The circumferential surface of the telescopic pneumatic tire and the tail end of the walking mechanism are located on the same circumference, and when the resistance torque detected by the torque sensor is larger than a set value, the telescopic pneumatic tire is deflated, the radius of the telescopic pneumatic tire is reduced, and the tail end of the walking mechanisms protrude out of the circumferential surface of the telescopic pneumatic tire; the dual purposes of flat ground and obstacle crossing are achieved, and higher trafficability and adaptability are achieved.
本发明涉及车辆行走技术领域,公开了一种轮腿复合式越障行走机构,包括轮轴、多个固设在轮轴上且沿轮轴的径向延伸的行走机构、固设在行走机构末端的力矩传感器,以及与轮轴同轴设置的伸缩式充气轮胎;所述伸缩式充气轮胎的周向表面与行走机构的末端位于同一圆周上,且当力矩传感器检测到的阻力矩大于设定值时,所述伸缩式充气轮胎进行放气并减小半径,使行走机构的的末端突出伸缩式充气轮胎的周向表面;实现了平地和越障两用性,具有更强的通过性和适应性。
Wheel-leg combined type obstacle crossing walking mechanism
一种轮腿复合式越障行走机构
2021-09-14
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Wheel-leg combined type obstacle crossing walking mechanism
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