The invention relates to a left-right phase difference half-locked six-wheel-foot robot, which belongs to the technical field of robots and comprises a robot body and six wheel feet oppositely arranged on the left side and the right side of the robot body in two groups. The wheel feet are semicircular wheel feet, and the rotating centers of the wheel feet pass through the circle centers of the wheel feet; the wheel feet on the same side share one driving device so that the wheel feet on the two sides can be independently controlled. The middle wheel foot and the front and rear wheel feet on the opposite side can be grounded at the same time to form a triangular gait; and a phase-locked half-clutch device is arranged between the wheel shafts of the two middle wheel feet, so that the six wheel feet automatically recover to a triangular gait from a wheel foot phase disorder state caused by differential steering. The differential steering mechanism not only has the stability of triangular gaits, but also has the convenience of differential steering of the left and right wheels, and can be used for mobile equipment such as mobile robots and obstacle crossing vehicles which need to walk on uneven ground and flat ground.

    本发明涉及一种左右相位差半锁定的六轮足机器人,属于机器人技术领域,包括机身、呈两组相对设置在机身左右两侧的六个轮足;轮足为半圆轮足,且轮足的转动中心过轮足的圆心;同侧轮足共用一个驱动装置以实现两侧轮足独立控制;中间轮足能够与对侧前后两个轮足同时接地,以形成三角步态;两中间轮足的轮轴之间设有锁相半离合装置,以使六轮足从因差速转向引起的轮足相位错乱状态自动恢复至三角步态。本发明不仅具有三角步态的稳定性,还具有左右轮差速转向的便捷性,可供移动机器人、越障车等需要在非平整地面和平整地面行走的移动设备使用。


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    Title :

    Left-right phase difference half-locked six-wheeled robot


    Additional title:

    一种左右相位差半锁定的六轮足机器人


    Contributors:
    WANG YUJUN (author) / FANG CAN (author) / HONG ZHISONG (author) / CHAI QISEN (author) / XU CAIJING (author)

    Publication date :

    2022-11-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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