The invention belongs to the technical field of vehicle action system control, and particularly relates to a walking system capable of achieving free switching of wheel-track walking modes, the walking system comprises six sets of wheel-track walking units, and each set of walking unit comprises a hydraulic motor, a rotary speed reducer, a track driving motor, a track unit, a hydro-pneumatic spring, a lower limb leg and an electric wheel. According to the walking system, free switching of three walking modes including a wheel type walking mode, a crawler walking mode and a walking mode can be achieved, and the adaptability of the vehicle to the complex environment is improved; secondly, the crawler unit in the novel walking system can be used as a crawler walking mechanism to complete a crawler driving function and can also be used as an upper limb leg to complete a load supporting function, so that the complexity of the system is simplified; and thirdly, the novel walking system can realize active/passive vibration reduction in a wheel type walking mode and active adjustment of a caterpillar track grounding area in a caterpillar track walking mode, so that the driving maneuverability and trafficability of the vehicle are further improved.
本发明属于车辆行动系统控制技术领域,具体涉及一种可实现轮履步行走模式自由切换的行走系统,该行走系统包括6套轮履步行走单元,每套行走单元包括液压马达、回转减速器、履带驱动电机、履带单元、油气弹簧、下肢腿、电动轮。所述行走系统,可以实现轮式、履带、步行三种行走方式的自由切换,提高车辆对复杂环境的适应性;其次,该新型行走系统中履带单元既可以作为履带行走机构完成实现履带驱动功能,又可以作为上肢腿完成载荷支撑作用,简化了系统复杂性;第三,该新型行走系统可以实现轮式行走模式下的主/被动减振及履带行走模式下履带接地面积的主动调整,进一步提高车辆行驶机动性和通过性。
Walking system capable of achieving free switching of wheel-track walking modes
一种可实现轮履步行走模式自由切换的行走系统
2024-08-09
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Wheel-track composite walking device with multiple walking modes
European Patent Office | 2020
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