The invention belongs to the technical field of moving devices, discloses a walking wheel type moving device and a control method thereof, and aims to solve the problem that the energy utilization rate is low due to the fact that driving of wheels of an existing wheel step type moving device and movement of supporting legs of the existing walking wheel type moving device are mutually independent. When the moving device adopts a front wheel set and a rear wheel set to normally move, a power transmission route is an internal combustion engine-ISG motor-driving motor-front and rear wheels and the rear wheel set, and redundant electric energy generated by redundant ISG motors is stored in a power battery; when the moving device adopts a front supporting leg, a middle supporting leg and a rear supporting leg to climb over obstacles, the power transmission route is the combination of the internal combustion engine, the power motor, the ISG motor, the oil pump and the supporting legs. Therefore, on the premise that the supporting legs can drive the moving device to move, energy consumption can be reduced.

    本发明属于移动装置技术领域,公开了一种轮步式移动装置及其控制方法,为了解决现有轮步式移动装置的轮子的驱动与支撑腿的运动相互独立而导致的能源利用率低的问题。本发明当移动装置采用前轮组和后轮组进行正常移动时,动力传递路线为:内燃机‑ISG电机—驱动电机‑前后轮和后轮组,同时将多余ISG电机产生的多余的电能存储在动力电池中,当移动装置采用前支撑腿、中支撑腿和后支撑腿进行翻越障碍时,动力传递路线为:内燃机+动力电机‑ISG电机‑油泵‑支撑腿。因此本发明在保障支撑腿能够带动移动装置进行移动的前提下,能够降低能源的消耗。


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    Title :

    Walking wheel type moving device and control method thereof


    Additional title:

    一种轮步式移动装置及其控制方法


    Contributors:
    XU HAIJUN (author) / YANG CONGNAN (author) / XU LIYANG (author) / ZHANG LEI (author) / CHANG YUKANG (author) / WANG XIAOCONG (author)

    Publication date :

    2021-11-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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