The invention provides a wheel-legged robot, and relates to the technical field of robotics.The wheel-legged robot comprises a thoracic cavity body, two leg assemblies symmetrically arranged on the two sides of the thoracic cavity body and driving wheel assemblies arranged on the leg assemblies, and each leg assembly comprises a thigh connecting rod, a shank connecting rod, an energy storage spring, an auxiliary connecting rod, an auxiliary rolling wheel and a leg driving part; the leg driving part is arranged on the chest body, one end of the thigh connecting rod is arranged at the driving end of the leg driving part, the other end of the thigh connecting rod is rotationally connected with the shank connecting rod, and the driving wheel assembly is arranged at the end, away from the thigh connecting rod, of the shank connecting rod. The auxiliary rolling wheel is arranged at the end, away from the driving wheel assembly, of the shank connecting rod. And through the auxiliary rolling wheels arranged on the shank connecting rods, four-wheel movement can be formed, and therefore the movement speed and the overall stability of the wheel-legged robot are improved.
本发明提供了一种轮腿式机器人,涉及机器人技术领域,轮腿式机器人包括胸腔本体、对称设于胸腔本体两侧的两个腿部组件及设于腿部组件上的驱动轮组件,腿部组件包括大腿连杆、小腿连杆、储能弹簧、辅助连杆、辅助滚轮及腿部驱动件,腿部驱动件设于胸腔本体,大腿连杆一端设于腿部驱动件的驱动端,另一端与小腿连杆转动连接,小腿连杆远离大腿连杆的一端设置驱动轮组件,储能弹簧连接大腿连杆与小腿连杆,辅助连杆一端转动连接于胸腔本体上,另一端与小腿连杆转动连接,辅助滚轮设于小腿连杆远离驱动轮组件的一端。通过小腿连杆设置的辅助滚轮,可变形成四轮移动,从而提高轮腿式机器人移动的速度和整体的稳定性。
Wheel-legged robot
一种轮腿式机器人
2022-07-22
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |