The invention discloses a walking wheel with retractable supporting legs. The walking wheel comprises a tire and a spoke plate connected to one side of the tire, a plurality of supporting legs arranged in the circumferential direction of the tire are arranged on the other side of the spoke plate of the tire, the multiple supporting legs are hinged to a base in the tire and define a circle on one side of the tire, and supporting leg covers are arranged on the outer sides of the supporting legs; the walking wheel controls unfolding or folding of the supporting legs through a hydraulic folding and unfolding mechanism. When a driving posture is switched into a walking posture, a gear and rack mechanism drives the supporting legs and a base to horizontally move towards the outer sides of the wheels together, so that the supporting legs have space to be unfolded, and the hydraulic folding and unfolding mechanism is connected with the supporting legs to provide the supporting force; when thewalking posture is switched into the running posture, the supporting legs are folded, the gear and rack mechanism drives the supporting legs and the base to return to the initial positions, and therefore the robot can rapidly run on a good straight road surface and can also achieve walking, passing or obstacle crossing and other operations under complex road conditions.

    本发明公开了一种可收放支撑足的步履车轮,包括轮胎和连接在轮胎一侧的辐板,轮胎辐板的另一侧设有多个沿轮胎周向设置的支撑足,多个支撑足与轮胎内的基座铰接并在轮胎一侧围合成一圈,支撑足外侧设有支撑足盖,步履车轮通过液压收放机构控制支撑足的展开或收起。本发明从行驶姿态切换成行走姿态时,齿轮齿条机构带动支撑足连同基座一起向车轮外侧平移,以使支撑足有空间展开,液压收放机构与支撑足相连提供支撑力;从行走姿态切换成行驶姿态时,收起支撑足,齿轮齿条机构带动支撑足连同基座回复至初始位置,既可以在良好平直路面上快速行驶,又可以在复杂路况下实现行走、通行或跨越障碍物等操作。


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    Title :

    Walking wheel with retractable supporting legs


    Additional title:

    一种可收放支撑足的步履车轮


    Contributors:
    HU SANBAO (author) / XIE CHAOJIE (author) / LIU ZHEN (author) / PENG QIANG (author) / JIN BOLUN (author)

    Publication date :

    2021-02-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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