The invention discloses a wheel-legged vehicle with abdomen wheel legs and an obstacle crossing method, and belongs to the technical field of obstacle crossing of wheel-legged vehicles. The wheel-legged vehicle comprises a vehicle body, front wheel legs and rear wheel legs are arranged on the two sides of the vehicle body, and the front wheel legs and the rear wheel legs are the same in structure and each comprise a thigh rotationally connected with the vehicle body; the sides, away from the vehicle body, of the thighs are rotationally connected with shanks, wheels are movably installed at the tail ends of the shanks, and the thighs, the shanks and the wheels are in transmission connection with thigh motors for driving the thighs to rotate, shank motors for driving the shanks to rotate and hub motors for driving the wheels to rotate correspondingly. A rotatable and telescopic abdomen wheel leg is arranged at the bottom of the vehicle body and located between the front wheel leg and the rear wheel leg, a rotatable supporting wheel is arranged at the end, away from the vehicle body, of the abdomen wheel leg, and by arranging the abdomen wheel leg with the supporting wheel, the abdomen wheel leg supports the surface of an obstacle during obstacle crossing, and the vehicle body and the wheel leg to be subjected to obstacle crossing are supported; the situation that the bottom of the vehicle body interferes with the obstacle in the obstacle crossing process is avoided, and the vehicle body is protected against damage.

    本发明公开了一种具有腹部轮腿的轮腿式车辆及越障方法,属于轮腿式车辆越障技术领域,轮腿式车辆包括车体,车体两侧设有前轮腿和后轮腿,前轮腿和后轮腿结构相同,均包括与车体转动连接的大腿,大腿远离车体的一侧转动连接有小腿,小腿末端活动安装有车轮,大腿、小腿和车轮上分别传动连接有驱动大腿转动的大腿电机、驱动小腿转动的小腿电机和驱动车轮转动的轮毂电机,车体底部、位于前轮腿和后轮腿之间设有可转动、可伸缩的腹部轮腿,腹部轮腿远离车体的一端设有可转动的支撑轮,通过设置带支撑轮的腹部轮腿,越障时腹部轮腿支撑障碍物表面,将车体及待越障的轮腿撑起,避免了越障过程中车体底部与障碍物发生干涉的情况,保护车体不会受到损坏。


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    Title :

    Wheel-legged vehicle with abdomen wheel legs and obstacle crossing method


    Additional title:

    一种具有腹部轮腿的轮腿式车辆及越障方法


    Contributors:
    SHANG QINGYI (author) / LIU HUI (author) / HAN LIJIN (author) / REN XIAOLEI (author) / XIE JINGSHUO (author) / NIE SHIDA (author)

    Publication date :

    2023-06-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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