The invention provides a variable-posture wheel-foot device, a moving mechanism and a control method. The variable-posture wheel-foot device comprises a bionic foot part, a wheel-foot posture conversion mechanism and wheels, the bionic foot part is mounted on the wheel-foot posture conversion mechanism; the wheel-foot posture conversion mechanism is connected with the side surface of the wheel; the wheel-foot posture conversion mechanism comprises a plurality of wheel legs, a sliding block, a hub guide rail, an electric push rod and a swing rod disc; the wheel legs are radially arranged along the circumference of the swing rod disc, one ends of the wheel legs are rotationally connected with the swing rod disc, the other ends of the wheel legs are fixedly connected with the bionic feet, the side faces of the wheel legs are rotationally connected with the sliding blocks, the hub guide rails are radially arranged along the circumference of the wheel hub, and the sliding blocks are installed on the hub guide rails. The lower bionic toe disc and the bionic foot web are combined to form a V-shaped groove, the V-shaped groove has the characteristics of sand stabilization and flow limiting, and the ground gripping performance and the anti-sliding capacity of the variable-posture wheel foot device are improved.

    本发明提供一种变姿态轮足装置及移动机构和控制方法,包括仿生足部、轮‑足姿态转换机构和车轮;所述仿生足部安装在轮‑足姿态转换机构上,轮‑足姿态转换机构与车轮侧面连接;所述轮‑足姿态转换机构包括多条轮腿、滑块、轮毂导轨、电动推杆和摆杆圆盘;所述轮腿沿摆杆圆盘的圆周呈放射状布置、且轮腿一端与摆杆圆盘转动连接,轮腿另一端与仿生足部固定连接,轮腿侧面与滑块转动连接,轮毂导轨呈放射状沿车轮轮毂圆周布置,滑块安装在轮毂导轨上。本发明下仿生足趾圆盘与仿生足蹼组合构成V字型凹槽,该V字型凹槽具有固沙限流的特性,提升变姿态轮足装置的抓地性能以及抗滑移能力。


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    Title :

    Variable-posture wheel foot device, moving mechanism and control method


    Additional title:

    一种变姿态轮足装置及移动机构和控制方法


    Contributors:
    HAN DIANLEI (author) / REN LIZHI (author) / LIU HAIRUI (author) / HU JINRUI (author) / YANG QIZHI (author)

    Publication date :

    2024-02-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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