The invention discloses a wheel-leg combined type traveling system, a maneuvering platform and a traveling method of the maneuvering platform, and the traveling system comprises a bionic joint leg mechanism formed by connecting a thigh swing arm and a shank swing arm through a hinge shaft, a tire driving unit, a hinge seat and a plurality of connecting rods; the thigh swing arm, the hinge seat and the plurality of connecting rods form a connecting rod mechanism; a first driving device is arranged between the thigh swinging arm and the hinge seat; a second driving device is arranged between the thigh swinging arm and the shank swinging arm, and the second driving device drives the shank swinging arm to retract or stretch so as to be switched into a wheel walking mode or a walking mode. According to the traveling system, wheel type rapid maneuvering can be implemented depending on the road environment, and walking and climbing can be achieved through a leg type structure without road supporting.
本发明公开了一种轮腿复合式行驶系统、机动平台及其行走方法,所述行驶系统,包括由大腿摆动臂和小腿摆动臂通过铰接轴连接而成的仿生关节腿机构,轮胎驱动单元,以及铰接座和多根连杆;所述大腿摆动臂、铰接座以及多根连杆之间组成连杆机构;所述大腿摆动臂与铰接座之间设有第一驱动装置;所述大腿摆动臂和小腿摆动臂之间设有第二驱动装置,所述第二驱动装置驱动小腿摆动臂缩回或伸展从而切换为轮行模式或步行模式。本发明的行驶系统既能够依托道路环境实施轮式快速机动,又能够在无道路依托时以腿式结构行走和攀爬。
Wheel-leg combined type traveling system, maneuvering platform and traveling method of maneuvering platform
一种轮腿复合式行驶系统、机动平台及其行走方法
2021-09-28
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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