An obstacle crossing robot with variable wheel legs comprises a rack, a deformation mechanism and a transmission mechanism, the deformation mechanism comprises a pair of deformable wheel leg mechanisms arranged in an axial symmetry mode, and deformation claws of the same deformable wheel leg mechanism can be driven by a deformation motor to contract and surround to jointly form a wheel shape; the deformation claws can be driven by the deformation motor to extend towards the peripheral side of the deformation wheel disc to form leg-shaped structures; according to the obstacle crossing robot with the variable wheel legs, the principle of a composite mechanism of a crank and a sliding block is comprehensively utilized, a deformable wheel leg mechanism with the large deformation rate is achieved, the length of an arc leg is effectively utilized as the diameter of the leg, and the deformation rate of the deformable wheel leg mechanism is increased; the brand-new deformable wheel leg mechanism with the single deformation rate is provided, deformation of the deformable wheel leg mechanism can be controlled relatively simply, the deformation module is independent of the action module, and deformation can be achieved while the robot moves.
一种轮腿可变式越障机器人,其包括机架、变形机构、传动机构,变形结构包括轴对称设置的一对可变形轮腿机构,同一可变形轮腿机构的变形爪可在变形电机的驱动下收缩并环绕共同组成轮状形状;变形爪可在变形电机的驱动下向变形轮盘外周侧伸展形成腿状结构;本发明所述的一种轮腿可变式越障机器人综合利用曲柄和滑块的复合机构原理实现了较大变形率的可变形轮腿机构,有效的利用了圆弧腿的长度作为腿的直径,增加了可变形轮腿机构的变形率,且提出一种全新的单变形率的可变形轮腿机构,能够相对简单的控制可变形轮腿机构的变形,并且变形模块独立于行动模块,可以做到机器人移动的时候同时变形。
Obstacle crossing robot with variable wheel legs
一种轮腿可变式越障机器人
2023-09-12
Patent
Elektronische Ressource
Chinesisch
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