The invention provides an all-terrain wheel-legged robot, and aims at solving the technical problem that in the prior art, the application range is narrow. The all-terrain wheel-legged robot comprises a wheel-legged mechanism which is installed on the robot and composed of a fixing support and two leg mechanisms, and the fixing support comprises two triangular supports and two baffles; each of the two ends of the bottom edge of the triangular support is provided with a rotating pair which is installed in an installation hole formed in the side face of each of the two baffles, and the two first joint motors fixed outside one baffle are used for driving the triangular support to rotate around the axis of the bottom edge of the triangular support. Mounting holes are formed in the intersection position of two bevel edges of the triangular support and the intersection position of one bevel edge and the bottom edge respectively and connected with a first connecting rod and a second connecting rod of the leg part respectively, and a second joint motor is fixed to the intersection position of the two bevel edges and used for driving the second connecting rod; the other ends of the first connecting rod and the second connecting rod are connected with supporting rods of the legs, and hub motors are fixed to the lower ends of the supporting rods.
本发明提出了一种全地形轮腿式机器人,用于现有技术中存在的适用范围较窄的技术问题,包括安装在机器人上的有固定支架和两个腿部机构组成的轮腿机构,固定支架包括两个三角支架和两个挡板,所述三角支架底边的两端各设置有一个转动副分别安装于两个挡板的侧面上设置的两个安装孔内,其中一个挡板外固定的两个第一关节电机用于驱动三角支架绕其底边轴心转动;所述三角支架两个斜边的交汇位置的以及一条斜边与底边的交汇位置各设置一个安装孔,分别与腿部的第一连杆和第二连杆连接,其中两个斜边的交汇位置固定有第二关节电机用于驱动第二连杆,第一连杆和第二连杆的另一端与腿部的支撑杆连接,支撑杆低端固定有轮毂电机。
All-terrain wheel-legged robot
一种全地形轮腿式机器人
2021-08-03
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |