Wheel leg mechanism with continuously engaging gears

The utility model discloses a wheel leg mechanism with continuously engaging gears. The wheel leg mechanism is mainly applied to a mobile robot platform; functional coupling of wheel type movement and leg type movement is realized; and a control system is simplified. The mechanism mainly comprises a thigh, a shank, a wheel, a transmission gear, a connecting rod and a telescoping mechanism, wherein the upper end of the shank is hinged with the lower end of the thigh, and the lower end of the shank is fixed with the wheel; the connecting rod and the transmission gear are arranged on two legs; and driving and control motors are arranged on the thigh. Under the action of the control motor, the telescoping mechanism and the connecting rod can realize extension and shrinkage of the wheel leg to guarantee stable obstacle crossing of the mobile platform; and the wheel can continuously run during extension and shrinkage of the wheel leg, so that the continuity of the movement is guaranteed. Different extension and shrinkage combinations of four legs can realize obstacle crossing of different forms.