The wheel-leg composite spherical robot is characterized by comprising a framework and a mounting frame, the framework is sleeved with rollers, spherical shells are fixedly arranged on the two sides of the framework, the mounting frame is located in the shells and fixed to the shells, and a roller driving mechanism, a direction deflection mechanism and four retractable leg assemblies are arranged on the mounting frame; the four leg assemblies are symmetrically arranged front and back in pairs, when the leg assemblies are in a contraction state, the leg assemblies, the shell and the rollers jointly form a complete spherical surface, and the roller driving mechanism and the direction deflection mechanism are located in the framework; the composite spherical robot has the advantages that the overall structure is simple, linear motion and steering motion of the spherical robot can be achieved only through two degrees of freedom, a larger space is reserved for the leg assembly, the working space when the leg assembly stretches is increased, and the motion performance of the composite spherical robot in different unstructured environments (such as rugged terrains) is guaranteed.

    本发明公开了一种轮腿复合球形机器人,特点是包括骨架和安装架,骨架上套设有滚轮,骨架的两侧固定设置有球面状的壳体,安装架位于壳体内且与壳体相固定,安装架上设置有滚轮驱动机构、方向偏转机构和四个可收缩的腿部组件,四个腿部组件呈前后两两对称设置,当腿部组件处于收缩状态时,腿部组件与壳体、滚轮共同形成一个完整的球面,滚轮驱动机构和方向偏转机构位于骨架内;优点是整体结构简单,仅使用两自由度就能实现球形机器人的直线运动和转向运动,为腿部组件预留更大的空间,提升了腿部组件伸展时的工作空间,并保证了复合球形机器人在不同非结构化环境中(如崎岖地形)的运动性能。


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    Titel :

    Wheel-leg composite spherical robot


    Weitere Titelangaben:

    一种轮腿复合球形机器人


    Beteiligte:
    SHEN KE (Autor:in) / LIU LI (Autor:in) / KE YOUHAO (Autor:in)

    Erscheinungsdatum :

    07.07.2023


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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