The invention relates to the technical field of robots, and provides a wheel-foot type mobile platform, an operation mode switching method and a wheel-foot type robotic.The wheel-foot type mobile platform comprises a base; the leg mechanism comprises a first arm section, a second arm section and a driving assembly, the first arm section is rotationally arranged on the base around a transverse straight line, the second arm section is rotationally arranged on the first arm section, the rotating axis of the second arm section is parallel to the rotating axis of the first arm section, and the driving assembly is used for driving the first arm section to rotate and driving the second arm section to rotate; the wheel type mechanism moves relative to the tail end of the second arm section, the wheel type mechanism and the tail end of the second arm section can be switched between a first relative position and a second relative position, in the first relative position, the wheel type mechanism makes contact with the ground, and in the second relative position, the tail end of the second arm section makes contact with the ground. By means of the arrangement, the requirement that the robot has high operation efficiency and obstacle crossing ability at the same time can be met.

    本发明涉及机器人技术领域,提供一种轮足式移动平台、运行模式切换方法及轮足式机器人,其中,轮足式移动平台包括基座;腿部机构,包括第一臂节、第二臂节和驱动组件,第一臂节可绕横向直线转动地设在基座上,第二臂节可转动地设在第一臂节上,第二臂节的转动轴线与第一臂节的转动轴线相平行,驱动组件用于驱使第一臂节转动并驱使第二臂节转动;轮式机构,与第二臂节的末端具有相对运动,轮式机构与第二臂节的末端能够在第一相对位置和第二相对位置之间切换,在第一相对位置,轮式机构与地面接触,在第二相对位置,第二臂节的末端与地面接触。如此设置,可以满足对机器人同时具有较高的运行效率和越障能力的需求。


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    Title :

    Wheel-legged mobile platform, operation mode switching method and wheel-legged robot


    Additional title:

    轮足式移动平台、运行模式切换方法及轮足式机器人


    Contributors:
    ZHANG XINLIANG (author) / ZHOU GUYUE (author)

    Publication date :

    2022-07-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B25J Manipulatoren , MANIPULATORS



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