The invention discloses a waist steering wheel-foot composite chassis and a control method thereof.The chassis comprises a first chassis frame, the first chassis frame is hinged to a second chassis frame through a waist steering mechanism, and the waist steering mechanism drives the first chassis frame and the second chassis frame to rotate relatively through a telescopic driving mechanism; left frame plates and right frame plates are arranged on the left sides and the right sides of the first chassis frame and the second chassis frame respectively, chassis connecting frames are hinged to the middles of the left frame plates and the middles of the right frame plates through supports respectively, yaw oil cylinders for driving the chassis connecting frames to swing left and right are arranged on the inner sides of the lower half portions of the chassis connecting frames, and the wheel-foot composite assemblies are hinged to the chassis connecting frames. The chassis efficiency and the obstacle crossing performance can be remarkably improved, seamless switching between a wheel driving mode and a walking mode can be achieved according to road conditions, the passing performance is guaranteed, the steering function in the wheel driving mode is achieved through waist steering, the wheel edge structure is simplified, and the reliability of the wheel edge is improved.

    本发明公开了一种腰部转向的轮足复合底盘及其控制方法,底盘包括第一底盘框架,第一底盘框架通过腰部转向机构铰接有第二底盘框架,腰部转向机构通过伸缩驱动机构驱动第一底盘框架和第二底盘框架相对转动,第一底盘框架和第二底盘框架的左右两侧均分别设有左框架板和右框架板,左框架板和右框架板的中部均分别通过支架铰接有底盘连接架,底盘连接架的下半部内侧设有驱动自身左右摆动的横摆油缸,轮足复合总成与底盘连接架铰接。本发明能够显著提高底盘效率和越障性能,可以根据路况在轮驱模式或行走模式间无缝切换,保证通过性能,采用腰部转向实现了轮驱模式下的转向功能,不仅简化了轮边结构,还提升了轮边的可靠性。


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    Title :

    Waist steering wheel-foot composite chassis and control method thereof


    Additional title:

    一种腰部转向的轮足复合底盘及其控制方法


    Contributors:
    LI HONGBIAO (author) / YU BIN (author) / ZHANG XIAO (author) / ZHU BINGHUI (author) / LI JIANHANG (author) / FANG MINHANG (author) / YUE YUNPENG (author) / DU MIAOMIAO (author) / JIN XIN (author) / LI YONGLIANG (author)

    Publication date :

    2025-03-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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