The invention provides a wheel-leg composite mobile robot which comprises mechanical legs, an upper trunk, a lower trunk and a waist rotating motor, and the upper trunk and the lower trunk are connected through the waist rotating motor. The multiple mechanical legs are connected in series through multiple connecting rods and connected with the upper trunk and the lower trunk respectively. The waist rotating motor can achieve multi-directional steering of the robot in a wheel type moving mode and a leg type moving mode. In the six wheel legs of the robot, three legs are connected with the uppertrunk, the other three legs are connected with the lower trunk, the three legs connected with the same trunk are arranged in an equilateral triangle shape, and the equilateral triangle formed by thewheel legs connected to the two trunks is congruent. The six-wheel-leg composite mobile robot with the waist steering mechanism is few in drive, simple in structure and good in maneuvering performance, and can meet the requirements for movement and detection under complex terrain conditions.

    本发明提供了一种轮腿复合移动机器人,包括:机械腿、上躯干、下躯干和腰部旋转电机,上躯干和下躯干之间通过腰部旋转电机连接;机械腿设置有多条,采用多连杆进行串联,分别与上躯干和下躯干相连;腰部旋转电机能够实现机器人在轮式移动模式和腿式移动模式下的多方位转向。机器人的六条轮腿中,三条腿与上躯干连接,三条腿与下躯干连接,与同一个躯干连接的三条腿成等边三角形布置,两个躯干上连接的轮腿构成的等边三角形全等。本发明所提供的一种具有腰部转向机构的六轮腿复合移动机器人具有驱动少,结构简单,机动性能好的优点,可以实现在复杂地形条件下的运动与探测需求。


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    Title :

    Wheel-leg composite mobile robot


    Additional title:

    轮腿复合移动机器人


    Contributors:
    QI CHENKUN (author) / GAO FENG (author) / XING YAN (author) / LI HUAYANG (author) / JIA JUNKAI (author) / CHEN XIANBAO (author) / HU YONG (author)

    Publication date :

    2020-10-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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