Wheel-leg mixed type moving device

Abstract

The invention aims to provide a wheel-leg mixed type moving device which comprises single-wheel shaft systems and driving systems, wherein the driving systems are connected with the single-wheel shaft systems and transmit power to the single-wheel shaft systems; each single-wheel shaft system comprises a differential driving system and a planetary gear train; and the differential driving systems are connected with the planetary gear trains to enable the wheel-leg mixed type moving device to realize three working states, namely round wheel rolling on flat ground, moving with wheels and legs, and walking upright on craggy pavements. The wheel-leg mixed type moving device is equipped with two sets of driving systems and four sets of single-wheel shaft systems; and a motor drives a central shaft through cone gear transmission and chain transmission and then drives the planetary gear trains through the action of a clutch and a brake on the central shaft, particularly through independent action and linkage of the clutch and the brake, namely adjustment and maintenance of differentiation of the central shaft and a planet carrier and the leg angle at the same speed. The wheel-leg mixed type moving device can be widely applied to flat ground, stairs, sandy beaches and other various pavements and has the advantages of rich motion forms, high mobility and strong obstacle surmounting ability. The invention provides an effective solution to transportation and rescue under the various complex pavement conditions.

Description

technical field [0001] The invention relates to a mobile device, in particular to a wheel-leg hybrid mobile device. Background technique [0002] Existing mobile devices include: wheeled mobile devices, legged mobile devices, crawler mobile devices and wheel-track hybrid mobile devices. Under different road conditions, these types of mobile devices each have their own advantages and disadvantages. [0003] Wheeled mobile devices are known for their high energy efficiency. The single premise is that the road surface is in good condition. On muddy roads, ice and snow roads and rough roads, wheeled mobile devices are difficult to move. [0004] Legged mobile devices are derived from bionic robots, taking bipedal, quadruped, hexapod, and octapedal animals as references. As far as the current research situation is concerned, their efficiency is not as good as that of wheeled mobile devices, but they are generally suitable for various Road conditions, passability is strong. [...

AI Technical Summary

Problems solved by technology

[0004] Legged mobile devices are derived from bionic robots, taking bipedal, quadruped, hexapod, and octapedal animals as references. As far as the current research situation is concerned, their efficiency is not as good as that of wheeled mobile devices, but they are generally suitable for various road conditions, strong passability

[0005] Tracked mobile devices are mostly found in tanks and construction machinery. They have the highest passing capacity on muddy roads and rough road conditions. However, due to the high friction resistance during operation, turning is inconvenient and the energy utilization efficiency is low.

[0006] The wheel-track hybrid mobile device combines the high energy utilization rate of the wheeled mobile device and the strong passing performance of the crawler mobile device, while the structure and control also become complicated

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