A wheel-leg mobile robot with a telescopic chassis comprises an upper chassis and a lower chassis which are connected through stepped bolts, and three foot-type legs and three wheel-type legs are connected to the outer sides of the upper chassis and the lower chassis at intervals; foot-type leg operation and wheel-type leg operation are selected according to the environment complexity degree, the lower chassis is stretched out and drawn back, when the operation road condition of the mobile robot is flat, the wheel-type legs are adopted for movement, power is provided through a hub motor, the hub motor is controlled to rotate through a third steering engine, and therefore steering of the robot is achieved. When the running road condition of the mobile robot is uneven, the foot-type legs are adopted to move, at the moment, the three wheel-type legs and the three foot-type legs are required to be kept at the same height, and the front legs and the rear legs of the two foot-type legs form a unit respectively to alternately move forwards or backwards; when turning is needed, the rotating angles of the two front legs are different, and turning of the robot is achieved; the wheel-leg mobile robot has extremely high environmental adaptability, ultrahigh maneuverability and stability.

    一种底盘可伸缩的轮腿移动机器人,包括通过阶梯螺栓连接的上底盘和下底盘,上底盘和下底盘外侧间隔连接有三条足式腿部和三条轮式腿部;足式腿部运行和轮式腿部运行根据环境复杂程度进行选择,并对下底盘进行伸缩,当移动机器人的运行路况平坦时,采用轮式腿部进行运动,通过轮毂电机提供动力,通过第三舵机控制轮毂电机转动,从而实现机器人的转向;当移动机器人的运行路况不平坦时,采用足式腿部进行运动,此时要求三条轮式腿部与三条足式腿部保持等高,两条足式腿部前腿分别与后腿组成一个单元,交替向前运动或向后运动;当需要转弯时,两条前腿转动的角度不同,实现机器人的转向;本发明具有极强的环境适应能力,超高机动性及稳定性。


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    Title :

    Wheel-leg mobile robot with telescopic chassis


    Additional title:

    一种底盘可伸缩的轮腿移动机器人


    Contributors:
    YANG JUN (author) / ZHOU ZHENQIU (author) / BO JIAQI (author) / WANG MENGCHAO (author)

    Publication date :

    2021-04-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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