The invention relates to a wheel-leg combined type mobile robot with a passive self-adaptive suspension, which comprises a robot body, four sets of wheel legs arranged at the tail end of the robot, wheel leg driving parts, rocker arms on two sides and rocker arm suspension mechanisms, the rocker arms on two sides are connected with the robot body through the rocker arm suspension mechanisms, the lower ends of the rocker arms are fixedly connected with the upper ends of the rocker arms, thereby forming a rocker. The rocker arm suspension mechanism comprises two spherical hinge connecting pieces, two switching connecting rods, two hooke hinge connecting pieces, equal arm connecting rods and a machine body main shaft connected with the upper ends of the rocker arms on the two sides, and each spherical hinge connecting piece comprises a first spherical hinge connecting piece and a second spherical hinge connecting piece. Each hooke joint connecting piece comprises a first hooke joint connecting piece and a second hooke joint connecting piece; each switching connecting rod is connected between the spherical hinge connecting piece and the hooke hinge connecting piece on the same side; the rocker arm suspension mechanism is arranged in an antisymmetric mode relative to the fuselage, and rocker arms on the two sides move reversely relative to the fuselage.
本发明涉及一种具有被动自适应悬架的轮腿复合式移动机器人,包括机身主体、四套布置在机器人末端的轮腿及轮腿驱动部分、两侧摇臂和摇臂悬架机构,两侧摇臂通过摇臂悬架机构与机身连接,其中,摇臂下端和摇臂上端固定连接,共同组成摇臂,摇臂悬架机构包括两个球铰连接件、两个转接连杆、两个虎克铰连接件、等臂连杆、连接两侧摇臂上端的机身主轴,每个球铰连接件包括第一球铰连接件和第二球铰连接件,每个虎克铰连接件包括第一虎克铰连接件和第二虎克铰连接件;每个转接连杆连接在同侧的球铰连接件和虎克铰连接件之间;摇臂悬架机构关于机身呈反对称布置,两侧摇臂关于机身反向运动。
Wheel-leg combined type mobile robot with passive self-adaptive suspension
具有被动自适应悬架的轮腿复合式移动机器人
2021-07-23
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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European Patent Office | 2023
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