The invention provides an ultra-light wheel-legged robot which is used for solving the problems that in an existing wheel-legged robot, the leg structure is complex, and the weight is heavy. The wheel-legged robot mainly comprises a trunk rack, a parallel leg mechanism and wheels, and the parallel leg mechanism is similar to a five-bar mechanism and mainly comprises leg bones, synchronous belts, belt wheels, tensioning wheels and pinch rollers; on one hand, the motor of the trunk drives the synchronous belt to output power, and rotation of the wheels is achieved; on the other hand, the motor of the trunk drives the shank to rotate, and motion control is achieved. The wheel-legged robot is mainly characterized in that a leg structure adopts a synchronous belt transmission mode which is different from a wheel hub motor, so that the weight of the leg is greatly reduced, the wheel-legged robot can move on a road surface with deep wading, the structure is compact, the movement is quick, meanwhile, different types of wheels can be simply and conveniently replaced so as to meet various complex movement environments, and the labor intensity is reduced. And good stability performance is achieved.

    本发明提出了一种具有超轻量化轮腿机器人,用于解决现有存在的轮腿机器人中,腿部结构较为复杂且质量较重的情况。该轮腿式机器人主要包括躯干机架、并联腿部机构以及轮子,其中并联腿部机构类似于五杆机构,主要包括了腿骨、同步带、带轮、张紧轮、压带轮;一方面通过躯干的电机驱动同步带传动来输出动力,实现轮子的转动;另一方面通过躯干的电机带动腿骨的转动,实现运动控制。该轮腿式机器人最主要的特点是腿部结构采用同步带传动方式,区别于采用轮毂电机,使腿部质量大大减轻,且能够在涉水较深的路面运动,结构紧凑、运动敏捷,同时可以较为简便的更换不同类型的轮子,以满足各种复杂的运动环境,且有较好的稳定性能。


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    Titel :

    Wheel-legged robot with ultra-light wheel legs


    Weitere Titelangaben:

    具有超轻量化轮腿的轮腿机器人


    Beteiligte:
    ZHANG JIE (Autor:in)

    Erscheinungsdatum :

    2023-01-17


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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