The invention provides an extensible robot joint and a robot which is formed by reasonable combining of the joint and runs in a wheel-tracked state, a walking state and a four-feet state. A design method for modularized extending of the joint and a method for switching driving modes of the robot formed by combining of the joint are further provided. The joint comprises a connecting arm (1), a driver (14), a driving wheel (10), a driven wheel (11), a driven wheel bearing (12), a transmission chain (13), supporting wheels (9), supporting shafts (8) and other parts. Under the condition that the characteristics of a main body are not changed, the connecting arm (1) is reasonably deformed, and thus joint bodies with the connecting function, the linking function, the driving function and the executing function can be formed; and the four joint bodies are reasonably mounted on a robot main body (24), and thus the robot with the different freedom degrees can be formed. The robot can achieve switching of the three main running states such as the wheel-tracked state, the walking state and the four-feet state, so that the obstacle crossing capacity of the robot and the adaptability to the complicated working condition environments are greatly improved.

    本申请提供一种可扩展的机器人关节,以及通过该关节的合理组合,构成的一种具备轮履状态、步行状态、四足状态运行的机器人。还提供该类关节模块化扩展的设计方法、对该类关节组合出的机器人驱动方式进行切换的方法。该关节包含连接臂(1)、驱动器(14)、主动轮(10)、从动轮(11)、从动轮轴承(12)、传动链(13)、支撑轮(9)、支撑轴(8)等零件。在保持主体特征不变的情况下,对连接臂(1)进行合理变形,可构成具有连接功能、衔接功能、驱动功能、执行功能的关节;将上述4种关节合理地安装到机器人主体(24)上,可构成具有不同自由度的机器人。该机器人,因能够实现轮履状态、步行状态、四足状态3种主要运行状态的切换,从而大大提高了其越障能力,和对复杂工况环境的适应能力。


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    Title :

    Extensible robot joint and driving-mode-switchable robot composed of extensible robot joint


    Additional title:

    一种可扩展的机器人关节及其构成的驱动方式可切换的机器人


    Contributors:
    BAI ZHICHAO (author)

    Publication date :

    2020-06-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



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