The invention discloses a wheel-leg conversion type robot and a conversion control method. The wheel-leg conversion type robot comprises a front-back steering module, a wheel-leg conversion module, a leg type structure driving module, a locking module, a vehicle body and wheels. A bearing plate is arranged below the vehicle body; the front-back steering module drives the bearing plate to rotate, and the wheel-leg conversion module is installed on the bearing plate through the locking module. During conversion, if the wheel-type walking mode encounters an obstacle in the walking process, the wheel-leg conversion module is started, and after the wheel-type walking mode is converted into the leg-type walking mode to cross the obstacle, the wheel-type walking mode is started, and the leg-type walking mode is converted into the wheel-type walking mode. Through the control of the servo motor, the working principle of a ball screw and a connecting rod mechanism is utilized, namely, the walking mode that rotation of the wheels and swinging of the legs are mutually converted is adopted, and the problem of damage or unstable running caused by structural transformation of the wheels is solved.
本发明公开了一种轮腿变换式机器人及变换控制方法,轮腿变换式机器人包括前后转向模块、轮腿变换模块、腿式结构驱动模块、锁定模块、车体和轮;车体下方设有承载板;前后转向模块驱动承载板转动,轮腿变换模块通过锁定模块安装在承载板上;本发明在进行变换时,若轮式模式行走途中遇障碍物,则启动轮腿变换模块,变换为腿式模式行走至越过障碍物后,则启动轮腿变换模块,变换为轮式模式行走。本发明通过伺服电机的控制,利用滚珠丝杠和连杆机构的工作原理,即通过车轮转动和腿部摆动相互转换的行走方式,解决了由于轮本身结构变换而带来的损坏或行驶不稳定的问题。
Wheel-leg conversion type robot and conversion control method
一种轮腿变换式机器人及变换控制方法
2023-09-05
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Wheel-legged robot stress-type motion posture conversion method and system
Europäisches Patentamt | 2020
|Hydraulic drive and control type wheel-track conversion device
Europäisches Patentamt | 2020
|