The invention discloses a wheel-legged robot which can realize front-and-back swing and internal-and-external swing of a leg structure, can realize various leg actions such as forward striding, forward moving, side striding, side moving, steering, wheel-moving fast moving and the like due to the fact that the leg structure has the capacity of unfolding or folding, and is comprehensive in function and high in practicability. And the device is suitable for various topographic conditions such as flat ground, multi-obstacle land, single step, continuous step, single-side slope land and the like, and is wide in adaptability. The main structure comprises a main machine, a power source, a pair of unfolding and folding wheel leg assemblies and two rotation freedom degree limiting assemblies, and each unfolding and folding wheel leg assembly comprises a four-connecting-rod mechanism, a leg unfolding and folding joint and a driving wheel assembly; the rotation freedom degree limiting assembly comprises a front-back swing joint for driving the leg unfolding and folding joint to swing front and back and an inner-outer swing joint for driving the front-back swing joint to swing inside and outside, when the front-back swing joint swings inwards, the driving wheel assembly is close to the vertical symmetry plane, and when the front-back swing joint swings outwards, the driving wheel assembly is far away from the vertical symmetry plane.

    本发明公开了一种轮腿式机器人,可以实现腿部结构前后摆动与内外摆动,且由于腿部结构本身具有展开或收拢的能力,从而能够实现诸如前跨、前移、侧跨、侧移、转向、轮动速进等各种腿部动作,功能全面,且适用于平地、多障碍地、单独台阶、连续台阶、单侧斜坡地等各类地形条件,适应性广。本申请的主要结构包括主机、动力源、一对展收轮腿组件及两个旋转自由度限定组件,展收轮腿组件包括四连杆机构、腿部展收关节及驱动轮组件,旋转自由度限定组件包括驱动腿部展收关节前后摆动的前后摆动关节及驱动前后摆动关节内外摆动的内外摆动关节,前后摆动关节向内摆动时,驱动轮组件靠近竖直对称面,前后摆动关节向外摆动时,驱动轮组件远离竖直对称面。


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    Titel :

    Wheel-legged robot


    Weitere Titelangaben:

    一种轮腿式机器人


    Beteiligte:
    LU BIAO (Autor:in) / CAO HAIXIN (Autor:in) / CHEN WANKAI (Autor:in) / JIANG WEIJIE (Autor:in) / LIU ZHONGYAN (Autor:in)

    Erscheinungsdatum :

    30.08.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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