The invention relates to a liftable wheel type mechanism which comprises a main rod assembly, at least two wheel carrier assemblies and a pair of four-connecting-rod assemblies connected to the two ends of the main rod assembly respectively. The four-connecting-rod assemblies are connected with the wheel carrier assemblies. Each four-connecting-rod assembly comprises a first connecting rod with one part rotationally connected relative to at least one part of the main rod assembly, asecond connecting rod with the first end fixedly connected with the other part of the first connecting rod, athird connecting rod with the first end pivotally connected with the second end of the second connecting rod, afourth connecting rod with the end part pivotally connected with the second end of the third connecting rod, and a linear actuator fixedly connected with the main rod assembly and driving the fourth connecting rod to linearly move. A retractable wheel type structure arranged front and back is used, a foot type robot can be changed into a wheel type robot, and meanwhile it is guaranteed that foot type movement of the four-foot robot is not interfered by the wheel mechanism.
本发明涉及一种可升降轮式机构,包括:主杆组件、至少两个的轮架组件和分别连接在所述主杆组件两端的一对四连杆组件,其中所述四连杆组件与所述轮架组件连接,其中所述四连杆组件包括:第一连杆,其一部分相对于所述主杆组件的至少一部分而转动地连接;第二连杆,其第一端与所述第一连杆的另一部分固定连接;第三连杆,其第一端与所述第二连杆的第二端枢转地连接;第四连杆,其端部与所述第三连杆的第二端枢转地连接;线性致动器,其与所述主杆组件固定连接,并且所述线性致动器带动所述第四连杆进行线性移动。本发明使用前后布置的可收缩的轮式结构,可以使足式机器人变成轮式机器人,同时保证四足机器人足式运动不受轮机构任何干涉。
Liftable wheel type mechanism for foot type bionic robot
一种用于足式仿生机器人的可升降轮式机构
2021-12-03
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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