The invention relates to the technical field of robot chassis, in particular to a reconfigurable deformation wheel with an integrated wheel foot structure. The device comprises a supporting device, a wheel-foot form switching device, a foot type movement device and a driving motor, the wheel and foot form switching device, the foot type movement device and the driving motor are all arranged in the supporting device. The device can meet the requirements of two movement modes, is simple in structure, can achieve the mutual conversion between a foot-shaped state and a wheel-shaped state through the control of the rotating speeds of the two driving motors, is simpler and quicker to operate, and can be in a stable state during use through the cooperation of a plurality of groups of driving ends and connecting rods.
本发明涉及机器人底盘技术领域,具体为一种轮足结构一体化可重构变形轮。其包括支撑装置、轮足形态切换装置、足式运动装置和驱动电机;轮足形态切换装置、足式运动装置和驱动电机均设置在支撑装置的内部。本发明能够满足两种运动模式需求且结构简单,通过对两个驱动电机转速的控制,能够实现足形状态与轮形状态的相互转换,使其操作更加简单、快捷,同时多组驱动端和连接杆的配合使得本装置在使用时能处于稳定状态。
Reconfigurable deformation wheel with integrated wheel foot structure
轮足结构一体化可重构变形轮
2023-08-22
Patent
Electronic Resource
Chinese
Reconfigurable foot type robot with double-foot/four-wheel/four-foot motion mode
European Patent Office | 2020
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