The invention provides a high-load wheel-foot switching deformation mechanism and a control method thereof.The high-load wheel-foot switching deformation mechanism comprises a mode switching component, an overturning unfolding component and a wheel component, the mode switching component comprises a motion motor and an electromagnetic brake, and the overturning unfolding component comprises a frame, an overturning unfolding motor, a bidirectional lead screw, a bevel gear set, a nut, a guide rail and a gear rack; the wheel part comprises a driving wheel, a left connecting wheel, a right connecting wheel, a middle wheel, a pulley, a sliding rail, a guide column, a locking block, a connecting rod I and a connecting rod II; the mode switching component is fixed with the turnover unfolding component, the moving motor is connected with the driving wheel, and the wheel component is connected with the turnover unfolding component through a connecting rod III, a connecting rod IV and a retaining rod. The overturning and unfolding motor drives the nut and the lead screw to move and drives the gear rack and the bevel gear set to move, overturning and unfolding are synchronously carried out, fast and reliable switching between wheel type movement and foot type movement is achieved by combining opening and closing of the electromagnetic brake, and meanwhile the mechanism adapts to high-load and high-dynamic movement.

    本发明提供了一种高负载轮足切换变形机构及其控制方法,包括模式切换部件、翻转展开部件、轮部件,模式切换部件包括运动电机和电磁制动器,翻转展开部件包括框架、翻转展开电机、双向丝杠、锥齿轮组、螺母、导轨、齿轮齿条,轮部件包括驱动轮、左连接轮、右连接轮、中间轮、滑轮、滑轨、导向柱、锁紧块、连杆I和连杆II;模式切换部件与翻转展开部件固定,运动电机与驱动轮连接,轮部件通过连杆III、连杆IV和保持杆与翻转展开部件连接。本发明通过翻转展开电机驱动螺母、丝杠运动,带动齿轮齿条和锥齿轮组运动,实现翻转和展开同步进行,结合电磁制动器的开闭,实现轮式与足式运动的快速可靠切换,同时适应高负载高动态运动。


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    Title :

    High-load wheel foot switching deformation mechanism and control method thereof


    Additional title:

    一种高负载轮足切换变形机构及其控制方法


    Contributors:
    CHEN XUECHAO (author) / ZHANG JINDAI (author) / YU ZHANGGUO (author) / MENG FEI (author) / HUANG QIANG (author)

    Publication date :

    2024-11-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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