High-integration wheel-leg composite mechanism and carrying platform

Abstract

The invention discloses a high-integration wheel-leg composite mechanism. The high-integration wheel-leg composite mechanism comprises a wheel, a shank arm, a wheel-leg composite driving motor, a power switching device used for respectively transmitting the power of the wheel-leg composite driving motor to the wheel or the shank arm, and a mutual exclusion type locking device used for locking thewheel or the shank arm respectively. An output shaft of the wheel-leg composite driving motor is connected with an input shaft of the power switching device; a first output shaft of the power switching device is connected with the wheel axle; the top end of the shank arm is connected to a second output shaft of the power switching device in a sleeved mode; the wheel axle, a first output shaft of the power switching device and the second output shaft of the power switching device are coaxially arranged; and the mutual exclusion type locking device is located between the wheel and the shank armand fixedly connected with the wheel axle and the shank arm. Wheel type and leg type rapid switching can be achieved, the structure is compact and simple, implementation is easy, movement is stable, and manufacturing and popularization are facilitated.

Description

technical field [0001] The invention relates to the field of unmanned ground platforms, in particular to a highly integrated wheel-leg composite mechanism and a carrying platform. Background technique [0002] With the development of intelligent science, unmanned mobile platforms have increasingly become the focus of people's attention, and the research and development of various unmanned vehicles has become a new trend in the field of scientific research. [0003] The walking mechanism of the existing ground mobile platform includes wheel type, crawler type, leg type and these several compound forms. Among them, the wheel type and the crawler type are relatively common, and are used in armored vehicles and transport vehicles, while the leg type walking mechanism is mostly used in bionic robots, which have excellent obstacle-surmounting ability in principle, but due to the structure and The control is complex and has not been widely used at present. However, the wheel-leg ...

AI Technical Summary

Problems solved by technology

Among them, the wheel type and the crawler type are relatively common, and are used in armored vehicles and transport vehicles, while the leg type walking mechanism is mostly used in bionic robots, which have excellent obstacle-surmounting ability in principle, but due to the structure and The control is complicated and has not been applied on a large scale at present

However, the wheel-leg composite structure has the disadvantages of complex structure and poor motion stability.

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