The invention discloses an all-terrain self-adaptive wheel-foot type mobile platform, and relates to the technical field of robots, the all-terrain self-adaptive wheel-foot type mobile platform comprises wheel set modules, a chassis module and a sensor module, the wheel set modules are averagely mounted on the two opposite sides of the chassis module, and each wheel set module comprises a rolling mechanism, a pitch changing mechanism, a steering mechanism and a hub; the rolling mechanism can drive the hub to rotate, the variable-pitch mechanism can adjust the height of the chassis and the axle distance, the steering mechanism can drive the variable-pitch mechanism and the rolling mechanism to rotate, and the steering mechanism can complete steering of the hub. Three degrees of freedom of rolling, pitch changing and steering are integrally designed, and the robot can adapt to various terrains and has the advantage of high trafficability.

    本发明公开了一种全地形自适应轮足式移动平台,涉及机器人技术领域,包括:轮组模块、底盘模块、传感器模块,所述轮组模块平均安装于所述底盘模块相对两侧,所述轮组模块包括滚转机构、变距机构、转向机构、轮毂,所述滚转机构可带动所述轮毂转动,所述变距机构可调节底盘高度和轴距,所述转向机构可带动变距机构和滚转机构转动,所述转向机构可完成所述轮毂转向。本发明将滚转、变距、转向三个自由度一体化设计,可适应多种地形,并具有高通过性的优点。


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    Title :

    All-terrain self-adaptive wheel-foot type mobile platform


    Additional title:

    一种全地形自适应轮足式移动平台


    Contributors:
    YUAN HAN (author) / XU WENFU (author) / QIU ZHE (author) / LI XIRAN (author)

    Publication date :

    2023-01-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES



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