The invention provides a small variable-gravity-center wheel type obstacle crossing robot. The small variable-gravity-center wheel type obstacle crossing robot comprises feet, legs, a rack and balancing weights. The feet are connected with the legs, spoke wheels are fixed to the feet, and the passing ability of the robot facing common obstacles can be improved through the spoke wheels; the spoke wheels on the same side are meshed through gears, and driving is completed through only one motor. The legs are connected with the rack through worm gears and worms, the worms installed on the two sides of the rack rotate to drive the worm gears of the legs to rotate, and then the rack can be moved front and back to change the gravity center of the robot. The balancing weight is used for controlling whether the robot tilts or not when the rack moves front and back so as to adapt to different types of obstacles. The robot with the variable gravity centers of the wheel legs is flexible and rapid in movement, high in environmental adaptability, small in size and mass and capable of meeting various requirements for complex and narrow environment detection and the like.
本专利提供了一种小型可变重心轮式越障机器人,包括:足部、腿部、机架、配重块。足部与腿部相连,其上固定有辐轮,采用辐轮有利于提高机器人面对一般障碍的通过性;同侧辐轮之间通过齿轮啮合,仅用一个电机完成驱动。腿部与机架之间通过蜗轮蜗杆相连,安装于机架两侧的蜗杆转动带动腿部蜗轮转动,进而可前后移动机架以改变机器人重心。配重块的作用在于控制机架前后移动时机器人是否翘起,以适应不同类型的障碍。本专利提供的轮腿可变重心机器人运动灵活快速,环境适应性强,体积质量较小,可以满足复杂狭窄环境探测等多种需求。
Small variable-center-of-gravity wheel type obstacle crossing robot
一种小型可变重心轮式越障机器人
2023-10-27
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Wheel leg type obstacle crossing mechanism and obstacle crossing robot
European Patent Office | 2020
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