The invention relates to an inchworm motion type walking mechanism for a low specific pressure terrain. The inchworm motion type walking mechanism comprises an inchworm motion type walking system and a folding type bridge floor working system. The walking system comprises a plurality of moving planes which move forwards alternately, the moving planes are parallel to one another and are stacked from top to bottom according to the sequence that the widths become smaller, the lengths become smaller or become larger, every two adjacent moving planes are in transmission connection, and the four corners of each moving plane are connected with a telescopic supporting leg set. The folding type bridge floor working system is fixedly connected to the uppermost working plane and is different from a wheel-track type or wheel-leg type moving platform which is driven by friction force, an inner supporting leg set and an outer supporting leg set only form a supporting relation with the ground in the inchworm type stepping discrete movement process, and displacement movement is achieved by internal force driving between the adjacent moving planes. The landing trestle is suitable for complex ground environments with low adhesion coefficient, low grounding specific pressure, rugged and bumpy conditions and the like, and a platform can also be used as a landing trestle.
本发明涉及面向低比压地形尺蠖运动式行走机构,包括尺蠖运动式行走系统和折叠式桥面工作系统;行走系统包括多个交替前行的移动平面,多个移动平面相互平行,上至下叠放次序是宽度由大到小,长度由大到小或是由小到大,相邻的两个移动平面传动连接,每个移动平面的四角处连接有一个可伸缩的支承腿组,折叠式桥面工作系统固定连接最上面的工作平面上,区别于轮履式或轮腿式移动平台依靠摩擦力驱动,尺蠖式跨步离散运动过程中内支承腿组和外支承腿组与地面仅形成支撑关系,位移运动依靠相邻移动平面间的内力驱动来实现,适用于低附着系数、低接地比压和崎岖坎坷等复杂地面环境,平台也可以作为登陆栈桥使用。
Inchworm motion type walking mechanism facing low specific pressure terrain
面向低比压地形尺蠖运动式行走机构
2023-09-19
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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