The invention discloses a novel deformable robot. The novel deformable robot comprises a chassis and a plurality of deformable wheel leg parts arranged on the chassis. Each deformable wheel leg part comprises a deformation wheel mechanism and a deformation control mechanism; the deformation wheel mechanism comprises an outer spoke, an inner spoke, three wheel components and three connecting components, wherein the three wheel components are evenly distributed around the outer spoke and the inner spoke, and the three connecting components are sequentially hinged between the adjacent wheel components; the deformation control mechanism comprises a driving motor, a transmission shaft, a synchronous clutch and a deformation clutch; the transmission shaft is connected between an output shaft ofthe driving motor and the outer spoke; the synchronous clutch is used for making the output shaft of the driving motor be connected with or separated from the inner spoke; and the deformation clutch is used for making the inner spoke be connected with or separated from a robot rack. The deformable wheel legs of the robot can deform actively, a deformable wheel structure in any deformation state can be kept, and obstacle crossing efficiency of the mobile robot and adaptability to unstructured terrains are improved.
本发明公开了一种新型可变形机器人,包括底盘和设置于所述底盘的多个变形轮腿部;所述变形轮腿部包括变形轮机构和变形控制机构;所述变形轮机构包括外轮辐和内轮辐、围绕所述外轮辐和内轮辐均匀分布的三个轮构件和依次铰接于相邻轮构件之间的三个连接构件;所述变形控制机构包括驱动电机、传动轴、同步离合器和变形离合器;所述传动轴连接于驱动电机输出轴与外轮辐之间;所述同步离合器用于控制驱动电机输出轴与内轮辐接合或分离;所述变形离合器用于控制内轮辐与机器人机架接合或分离;本机器人的变形轮腿可主动变形,且能够保持任意变形状态的变形轮结构,提高移动机器人的越障效率和对于非结构化地形的适应能力。
Novel deformable robot
一种新型可变形机器人
2020-08-14
Patent
Electronic Resource
Chinese