Gait adjustable foot track type walking mechanism

Abstract

The invention discloses a gait adjustable foot track type walking mechanism. The gait adjustable foot track type walking mechanism comprises a foot track system, a driving power system and a gait power system; the foot track system comprises a driving wheel, two tension wheels, a track and a foot track holding frame, wherein the track is wound on the driving wheel and the tension wheels, and the two tension wheels are both fixedly connected with the foot track holding frame; the driving power system comprises a driving servo motor, a driving decelerator and a spline transmission shaft which are connected sequentially, and the spline transmission shaft is fixedly connected with the driving wheel; and the gait power system comprises a gait adjusting servo motor, a synchronous transmission pair and a gait decelerator which are connected sequentially, and the output end of the gait decelerator is fixedly connected with the foot track holding frame. The gait adjustable foot track type walking mechanism combines the advantages of a wheel driving mode and a track driving mode, free shifting between the wheel driving mode and the track driving mode is achieved through the gait power system, and accordingly all-terrain traffic capacity of a ground unmanned platform is improved.

Description

technical field [0001] The invention relates to the technical field of ground unmanned platforms, in particular to a walking mechanism with adjustable gait. Background technique [0002] With the rapid development of modern science and technology, the development level of ground unmanned platforms is changing with each passing day. Whether in the military field or the civilian market, ground unmanned platforms have been widely used due to their advantages of high mobility, strong adaptability, and low personnel risk. in-depth application. For ground unmanned platforms, good terrain adaptability is one of the most important performances, especially when operating in off-road environments, good passing performance is even more indispensable. The current mainstream driving methods of ground unmanned platforms mainly include wheel type, crawler type and wheel-track compound type. The wheel type has a simple structure, fast driving speed and strong maneuverability on paved road...

AI Technical Summary

Problems solved by technology

The wheel type has a simple structure, fast driving speed and strong maneuverability on paved roads. However, due to the high grounding pressure of the wheel type, slipping and subsidence are prone to occur in muddy, sandy, and snowy terrain conditions, and the passability is poor. And it is difficult to overcome terrain obstacles such as ditches and steps, which are greatly restricted in field environment applications

The crawler drive mode has the advantages of low grounding ratio, large traction force, and strong climbing ability. It has high passability in off-road environments, but it has poor maneuverability, slow driving speed, great damage to the road surface, and poor steering performance. , large energy consumption and other deficiencies

The traditional wheel-track compound driving method hopes to take into account the characteristics of high maneuverability of wheel drive and high passability of track drive, but due to its complex structure and poor reliability, it has been greatly restricted in practical application.

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