The invention provides a bionic robot with multiple motion modes. The robot comprises a robot body, a wheel module and four leg mechanisms. The four leg mechanisms are symmetrically distributed on theleft side and the right side of the robot body, and hip joints of the leg mechanisms are connected with the robot body. The wheel module comprises a base, a rotating motor and at least three wheel mechanisms, the base is fixed to the robot body, and the rotating motor is fixed on the base. Each wheel mechanism comprises a connecting rod, a supporting arm, a wheel and a driving part, wherein one end of the connecting rod is hinged to the output end of the rotating motor, the other end of the connecting rod is hinged to the supporting arm at a first joint, the supporting arm is hinged to the base at a second joint, the wheel is fixed to the end, away from the second joint, of the supporting arm, and the supporting arm can rotate in the horizontal direction relative to the base so as to foldor unfold the wheel. When the wheels are in an unfolded state, the robot is in a wheel motion mode. The bionic robot can adapt to various terrains and can quickly move on a flat road surface.

    本发明提供一种具有多运动模式的仿生机器人,该机器人包括机身本体、车轮模块和四个腿部机构,四个腿部机构对称分布在机身本体的左右两侧,腿部机构的髋关节与机身本体连接;车轮模块包括基座、旋转电机和至少三组车轮机构,基座与机身本体固定,旋转电机固定在基座上;车轮机构包括连杆、支撑臂、车轮和驱动部件,连杆的一端与旋转电机的输出端铰接,连杆的另一端在第一节点与支撑臂铰接,支撑臂在第二节点与基座铰接,车轮固定在支撑臂的远离第二节点的一端,支撑臂能够在水平方向上相对于基座转动,以收回或展开车轮;当车轮处于展开状态下,机器人为轮运动模式。该仿生机器人能够适应多种地形,并且在平坦路面上能快速移动。


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    Title :

    Bionic robot with multiple motion modes


    Additional title:

    一种具有多运动模式的仿生机器人


    Contributors:
    FAN XUXIAO (author) / HUANG RICHENG (author) / WU GUOLIANG (author) / MENG FEI (author) / CHEN DAHAI (author) / HUANG QIANG (author) / YU ZHANGGUO (author) / MING AIGUO (author)

    Publication date :

    2020-12-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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