The invention provides a wheel-foot robot with a balancing device. The wheel-foot robot comprises a robot body, the balancing device and two legs symmetrically installed on the two sides of the robot body, the working modes of the balancing device comprise a balancing mode and a grabbing mode, connecting structures are arranged at the two ends of the balancing device, one end can be connected with a mechanical arm and other operation structures, so that the balancing device has the functions of grabbing objects and the like while keeping the robot in a balanced state, and the functional diversity of the wheel-foot robot is increased. According to the wheel-foot robot, foot end suites of the legs and wheel type components are integrated on the same robot, and free switching between a foot type motion state and a wheel type motion state can be achieved in different environments; and a motor is arranged on the robot body and is driven by a connecting rod system, so that the effects of reducing the inertia of the foot ends, increasing the movement speed and reducing the energy consumption are achieved.

    本发明公开了一种含有平衡装置的轮足机器人,包括机身、平衡装置和两个对称安装于机身两侧的腿部,平衡装置的工作模式包括平衡模式和抓取模式,平衡装置的两端设置有连接结构,其中一端可以与机械手等操作结构进行连接,使得平衡装置在保持机器人处于平衡状态的同时,兼具抓取物体等功能,增加了轮足机器人的功能多样性。上述轮足机器人将腿部的足端套件和轮式部件集成在同一个机器人上,能够在不同环境下实现足式运动状态和轮式运动状态的自由切换;将电机置于机身上并通过连杆系统传动,达到了减轻了足端惯量、提升运动速度、降低能量消耗的效果。


    Access

    Download


    Export, share and cite



    Title :

    Wheel-foot robot with balancing device


    Additional title:

    一种含有平衡装置的轮足机器人


    Contributors:
    YANG PEIYU (author) / SONG WENJIE (author) / LIU WEICHENG (author) / ZENG LINZHI (author) / QIAN YIZHAO (author)

    Publication date :

    2021-10-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



    Leg structure of wheel-foot robot, wheel-foot robot and four-wheel-foot robot

    CHEN JIAN | European Patent Office | 2024

    Free access

    Wheel-foot switching device suitable for wheel-foot robot

    CHEN XUECHAO / ZHANG JINTAO / YU ZHANGGUO et al. | European Patent Office | 2022

    Free access

    Wheel-foot robot

    LI MENGZHOU | European Patent Office | 2025

    Free access

    Wheel-foot robot

    ZHANG DI / LIAO XUANHONG | European Patent Office | 2024

    Free access

    Wheel-foot robot

    WANG ZHENG / LI XUEYANG / JIA YUFEI | European Patent Office | 2024

    Free access