The invention belongs to the technical field of robots, and discloses a hook claw type wheel leg mechanism with a variable motion trail and a robot. The central axis of the wheel is horizontally arranged, and the peripheral wall of the lower end of the wheel is located on the outer side of the mounting frame; any side of the wheel is provided with a pair of hook claws which are symmetrically arranged, the two hook claws are symmetrically arranged relative to the central axis of the wheel, one end of each hook claw is provided with a hook part, and the other end of each hook claw is rotationally hinged to the wheel; an adjusting unit is arranged between the two hook claws, the adjusting unit is connected with the two hook claws, the adjusting unit is used for driving the hook claws to rotate in a vertical plane around the hinged parts of the hook claws and the wheel for posture adjustment, and the hook parts can extend to the outer side of the peripheral wall of the wheel or retract to the inner side of the peripheral wall of the wheel in the rotating process; a driving part for driving the wheels to rotate is arranged on the mounting frame; the problem that an existing wheel-leg mechanism is insufficient in adaptability when facing irregular and aperiodic obstacles is effectively solved.
本发明属于机器人技术领域,公开一种运动轨迹可变的勾爪式轮腿机构及机器人,包括车轮及安装架;车轮转动连接与安装架内,车轮中心轴线呈水平放置,车轮下端周壁位于安装架外侧;车轮任一侧设有一对对称放置的勾爪,两勾爪关于车轮中心轴线呈对称放置,勾爪一端设有弯钩部,勾爪另一端均与车轮转动铰接;两勾爪之间设有调节单元,调节单元与两勾爪连接,调节单元用于驱动勾爪绕勾爪与车轮的铰接部位在竖直平面内旋转进行姿态调整,旋转转动过程中弯钩部可延伸至车轮周壁外侧或收缩于车轮周壁内侧;安装架上设置有用于驱动车轮转动的驱动部;有效解决了现有轮腿机构在面对不规则、非周期性障碍物时存在着适应性不足的问题。
Hook claw type wheel leg mechanism with variable motion trail and robot
一种运动轨迹可变的勾爪式轮腿机构及机器人
13.05.2025
Patent
Elektronische Ressource
Chinesisch
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