The invention relates to a tiltable wheeled foot of a multi-foot wheeled robot, and solves the technical problems of unreasonable design and the like in the prior art. The tiltable wheeled foot comprises a lifting mechanism and a walking wheel body arranged at the lower end of the lifting mechanism, a rolling driving mechanism capable of driving the walking wheel body to roll and a rotating driving mechanism capable of driving the walking wheel body to rotate in the circumferential direction are arranged on the lifting mechanism, and an included angle with the adjustable angle is formed between the lifting central axis of the lifting mechanism and the rolling central axis of the walking wheel body. An inclination and angle adjustment driving mechanism is also arranged on the lifting mechanism. The tiltable wheeled foot has the advantages that rolling, horizontal steering and lifting of the walking wheel body can be achieved, inclination of the whole wheel type foot can be achieved, functions are complete, and the application range is wide. When a plurality of walking wheel bodies are matched with each other, the road conditions such as rugged roads and steps can be successfully passed and various complex natural terrains can be easily crossed.
本发明涉及一种多足轮式机器人的可倾斜轮式足。它解决了现有技术设计不够合理等技术问题。包括升降机构和设置在升降机构下端的行走轮体,所述的升降机构上设有能驱动行走轮体滚动的滚动驱动机构和能够驱动行走轮体周向转动的转动驱动机构,升降机构的升降中轴线与行走轮体的滚动中轴线之间形成角度可调的夹角,升降机构上还设有倾斜及角度调整驱动机构。优点在于:既能实现行走轮体滚动、水平转向、升降,还能实现整个轮式足的倾斜,功能齐全,应用范围广泛。多个行走轮体相互配合时,可成功通过崎岖、台阶等路况,能轻易地穿越了各种复杂的自然地形。
Tiltable wheeled foot of multi-foot wheeled robot
多足轮式机器人的可倾斜轮式足
2021-02-23
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |