The invention discloses an omni-directional all-terrain deformable joint robot which comprises a robot body and four walking leg assemblies rotationally connected to the four corners of the outer portion of the robot body. Each walking leg assembly comprises a first modular servo motor, a cross-shaped connecting piece, a second modular servo motor, a leg outer side connecting piece, a modular wheel, a quick-release wheel connecting piece, a third modular servo motor, a fourth modular servo motor, a U-shaped connecting piece, a damping shank and a leg inner side connecting piece. The modular wheels are connected to output shafts of the third modular servo motors through quick-release wheel connecting pieces, and the damping shanks are connected to output shafts of the fourth modular servo motors through U-shaped connecting pieces. When the robot is in the crawling motion mode, the springs in the damping shanks deform due to stress, meanwhile, the lower portions of the damping shanks can generate buffering damping relative to the damping shanks, and the crawling motion of the robot is more stable.

    本发明公开了一种全向全地形可变形关节机器人,包括机身和机身外部四角旋转连接的四条行走腿组件;行走腿组件包括第一模块化伺服电机、十字连接件、第二模块化伺服电机、腿部外侧连接件、模块化车轮、快拆轮子连接件、第三模块化伺服电机、第四模块化伺服电机、U型连接件、减震小腿和腿部内侧连接件,模块化车轮通过快拆轮子连接件连接在第三模块化伺服电机的输出轴上,减震小腿通过U型连接件连接第四模块化伺服电机的输出轴上。机器人在爬行运动模式下,减震小腿中的弹簧由于受力而发生形变,同时减震小腿下部相对于减震小腿也会产生缓冲减震,机器人的爬行运动更加稳定。


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    Titel :

    Omnidirectional all-terrain deformable joint robot


    Weitere Titelangaben:

    一种全向全地形可变形关节机器人


    Beteiligte:
    LI YONGLU (Autor:in)

    Erscheinungsdatum :

    2023-01-24


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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