An AUV-based wheel-leg type walking device

The invention belongs to the research field of walking device, in particular to a wheel-leg type walking device based on AUV. By the outer cover, the motor, motor seal mechanism, wheel leg mechanism,Switches, worm gears, worm reducers, hatch rotation shaft, First key, sleeve, Chain, first resilient retainer, First axle end retainer, Bearing, sprocket, Second screw, Base, first bolt, nut composition, A main connected bracket is mounted on that base by a first bolt, A base is secured to the base by a second screw, A hatch rotating shaft is mounted in the housing, The sprocket is positioned by asleeve and a shoulder, the sprocket is mounted on the hatch door rotating shaft by a first key, the sleeve is mounted on the hatch door rotating shaft, the outer cover is mounted on the housing, thefirst shaft end stop ring is fixed on the hatch door rotating shaft by a second screw, the motor is fixed on the base, and the bearing and the sleeve are mounted on the hatch door rotating shaft. Theinvention can realize the re