The invention discloses a walking leg mechanism and a wheel-walking dual-mode maneuvering platform. The walking leg mechanism comprises a side swing frame, a foot end and a four-bar mechanism installed between the side swing frame and the foot end. A driving cylinder for driving the side swing frame to swing laterally is mounted on the side swing frame; a first oil cylinder which is vertically arranged and a second oil cylinder which is horizontally arranged are also arranged on the side swing frame; the first oil cylinder and the second oil cylinder are used for driving the four-connecting-rod mechanism to stretch or retract. The walking leg mechanism is matched with a wheel type driving system, so that the wheel-step double-driving capability and the adaptive scene can be remarkably improved.
本发明公开了一种步行腿机构及轮步双模态机动平台。所述步行腿机构包括侧摆架、足端,以及安装在侧摆架和足端上之间的四连杆机构;所述侧摆架上装有驱动其侧向摆动的驱动缸;所述侧摆架上还装有竖向布置的第一油缸和水平布置的第二油缸;所述第一油缸和第二油缸用于驱动所述四连杆机构伸展或收缩。本发明的步行腿机构配合轮式行驶系统可以显著提升轮步双行驶能力和适应场景。
Walking leg mechanism and wheel-walking dual-mode maneuvering platform
一种步行腿机构及轮步双模态机动平台
09.09.2022
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Walking wheel assembly, walking mechanism and walking device
Europäisches Patentamt | 2021
|Omnidirectional walking driving wheel and walking platform unit
Europäisches Patentamt | 2024
|