The invention discloses a pneumatic soft wheel leg mechanism, and belongs to the field of robots. The pneumatic soft wheel leg mechanism comprises an air pump and a second air valve which are fixed to the upper end of the machine body, and the air pump and the second air valve are connected and communicated through a first air conveying pipe. One end of the second air valve is rotationally connected with a hollow rotating shaft, a hollow spoke is vertically installed at one end of the rotating shaft, and the rotating shaft communicates with the second air valve and the spoke. One end of the rotating shaft is connected with a flexible cavity and is communicated with the flexible cavity; a small wheel II with a one-way bearing is mounted at the lower end of the flexible cavity; the air pump inflates the flexible cavity and enables the upper end and the lower end of the flexible cavity to be attached to form a whole circle. Conversion between the leg mode and the wheel mode can be achieved through deformation of the flexible cavity in the inflation state and the deflation state, and the conversion method is simple and efficient.
本发明公开一种气动软体轮腿机构,属于机器人领域;气动软体轮腿机构包括固定在机体上端的气泵和气阀二,气泵与气阀二之间通过输气管一连接并导通;气阀二的一端转动连接有中空的转轴,转轴的一端垂直安装有中空的辐条,转轴分别与气阀二以及辐条连通;转轴的一端连接有柔性腔体,并相互导通;柔性腔体的下端安装有带有单向轴承的小轮二;所述气泵对柔性腔体充气,并能够使柔性腔体的上下两端贴合形成整圆;通过柔性腔体在充气及放气状态下的形变即可实现腿模式和轮模式之间的转换,转换方法简单高效。
Pneumatic soft wheel leg mechanism
一种气动软体轮腿机构
21.03.2023
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |