The invention relates to a wheel-legged robot. The wheel-legged robot comprises a body, a driving wheel, a driving structure, two front legs and two rear legs, the driving wheel is rotationally connected with the body; the two front legs are arranged at the front end of the body in a spaced mode and rotationally connected with the body. The two rear legs are arranged at the rear end of the body at intervals and rotationally connected with the body, and the rotating axes of the front legs, the rear legs and the driving wheels are parallel to one another; the driving structure comprises front leg driving parts, rear leg driving parts and driving wheel driving parts, the front leg driving parts are arranged between the front legs and the body, the rear leg driving parts are arranged between the rear legs and the body and used for driving the rear legs to be opposite to the body, and the driving wheel driving parts are arranged between the body and the driving wheels and used for driving the driving wheels to rotate around the axis located in the transverse direction of the body; therefore, the driving wheels can drive the body to move. The wheel-legged robot in the scheme can be rapidly switched between a wheel type and a legged type, the movement posture adjustment is relatively flexible, the universality is improved, and rapidity, stability and high obstacle crossing performance can be considered.

    本发明涉及一种轮腿式机器人,包括躯体、主动轮、驱动结构、两个前腿及两个后腿;主动轮转动连接躯体;两个前腿间隔设于躯体的前端,前腿转动连接躯体;两个后腿间隔设于躯体的后端,后腿转动连接躯体,前腿、后腿及主动轮的转动轴线相互平行;驱动结构包括前腿驱动部、后腿驱动部及主动轮驱动部,前腿驱动部设于前腿与躯体之间,后腿驱动部设于后腿与躯体之间,用以驱动后腿相对躯体,主动轮驱动部设于躯体与主动轮之间,用以驱动主动轮绕位于躯体横向上的轴线转动,以使得主动轮能够带动躯体移动。本方案中的轮腿式机器人在轮式及腿式之间能够快速切换,运动姿态调整相对灵活,提高了普适性,且能够兼顾快速性、平稳性及高越障性。


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    Title :

    Wheel-legged robot


    Additional title:

    一种轮腿式机器人


    Contributors:
    ZHOU ZIYAO (author) / ZHANG LI (author) / WANG ZIHANG (author) / WANG ZHENGYU (author) / CHEN YAOXUAN (author) / CHEN LANG (author) / CHEN WEIYAN (author) / ZHU CHUANBIAO (author) / MEI JIE (author) / CHEN DINGFANG (author)

    Publication date :

    2023-09-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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