The invention provides a foldable wheel type transformable robot device. The foldable wheel type transformable robot device comprises a transformable main plate 2, a rigid spring component 3, a left driving wheel 4, a right driving wheel 5, a transformable stretching line 6, a spherical four-bar linkage structure 7, an upper main plate 8, a planar four-bar linkage structure 9 and a lower main plate 10. The planar four-bar linkage structure 9 is arranged on the rear side of the deformable main plate 2; the left driving wheel 4 and the right driving wheel 5 are respectively connected with the deformable main plate 2; the left driving wheel 4 and the right driving wheel 5 are arranged on the two sides of the foldable wheel type transformable robot device. The deformation stretching line 6 isrespectively connected with the left driving wheel 4 and the right driving wheel 5; and the rigid spring component 3 is connected with the lower main plate 10. The micro motors attached to the inner walls of the wheels are driven to control the rocker arms to extend out of the wheel supporting faces to increase the height of the robot to cross obstacles.
本发明提供了一种可折叠轮式变形机器人装置,包括:可变形主板2、刚性弹簧部件3、左驱动轮4、右驱动轮5、变形拉伸线6、球面四连杆结构7、上层主板8、平面四连杆结构9、下层主板10;所述平面四连杆结构9设置于可变形主板2的后侧;所述左驱动轮4、右驱动轮5分别与可变形主板2相连;所述左驱动轮4、右驱动轮5设置于可折叠轮式变形机器人装置的两侧;所述变形拉伸线6分别与左驱动轮4、右驱动轮5相连;所述刚性弹簧部件3与下层主板10相连。本发明通过驱动附着在车轮内壁的微型电机控制摇臂伸出轮子支撑面提高机器人高度越过障碍物。
Foldable wheel type transformable robot device
可折叠轮式变形机器人装置
2020-04-24
Patent
Electronic Resource
Chinese