The invention discloses a deformable and combinable wheel-foot robot. The wheel-foot robot is composed of six main parts including a two-wheel vehicle body, an on-wheel sensing box, a connecting rod transposition mechanism, a mechanical arm bottom plate, a mechanical arm structure and a hand-foot universal mechanical claw. Wheel type motion is driven by a hub motor, a mechanical arm is driven by aplanetary gear motor to move, the connecting rod transposition mechanism actively moves and is matched with ground supporting motion of the mechanical arm to achieve position switching of the mechanical arm on the vehicle body and the on-wheel sensing box, and a mechanical claw universal for hands and feet is completely opened during foot type motion to play a supporting role. According to the robot, form switching of wheel type motion and foot type motion and combination and cooperative work from a single robot to a multi-body robot can be achieved, and conversion of combination forms of twowheels to four wheels, six wheels, eight wheels and the like and conversion of combination forms of two feet to four feet, six feet, eight feet and the like are achieved; the design concept is noveland practical, the outdoor exercise capacity of the robot is remarkably improved, and various manned carrying modes are provided for daily life.

    本发明公开了一种可变形和可组合的轮足机器人,该轮足机器人由二轮车体、轮上传感箱、连杆换位机构、机械臂底板、机械臂结构和手足通用机械爪六个主体部分组成,使用轮毂电机驱动轮式运动,行星减速电机驱动机械臂运动,连杆换位机构主动运动并配合机械臂的撑地运动实现机械臂在车体和轮上传感箱的位置切换,手足通用机械爪在足式运动时完全打开起到支撑作用。本发明可实现轮式运动、足式运动的形态切换,以及单体机器人到多体机器人的组合、协作工作,实现二轮到四轮、六轮、八轮等组合形态的变换,以及二足到四足、六足、八足等组合形态的变换;设计理念新颖实用,显著提升机器人的户外运动能力,为日常生活提供多种形式的载人载物方式。


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    Title :

    Transformable and combinable wheel-foot robot


    Additional title:

    一种可变形和可组合的轮足机器人


    Contributors:
    LI GUANGYI (author)

    Publication date :

    2020-12-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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