The invention discloses a deformable wheel leg mobile robot, and belongs to the field of mobile robots. Comprising a robot body, four deformable wheel leg mechanisms and a transmission mechanism. The deformable wheel leg mechanism comprises a gear motor, a retainer, a central gear and a plurality of deformation assemblies; each deformation assembly comprises a planetary gear, a connecting rod and an arc leg; the planetary gear is connected with the retainer through a shaft hole and is meshed with the central gear; one end of the arc leg is connected with the retainer through a shaft hole, one end of the connecting rod is hinged with the arc leg, and the other end of the connecting rod is hinged with the planetary gear; the sun gear rotates along with the gear motor to drive the planetary gears to rotate, then the arc legs are driven to be unfolded or folded, and switching of the wheel type form and the leg type form of the robot is achieved. According to the novel transformable wheel-leg type mobile robot, switching between a wheel type motion mode and a leg type motion mode is achieved through the transformable and unfolded wheel-leg structure, and the novel transformable wheel-leg type mobile robot has flexibility, adaptability and high obstacle crossing ability.

    本发明公开了一种可变形的轮腿移动机器人,属于移动机器人领域;包括机器人机身、四个可变形轮腿机构以及传动机构;可变形轮腿机构包括减速电机、保持架、中心齿轮和若干变形组件;每个变形组件均包括行星齿轮、连接杆和圆弧腿;行星齿轮与保持架通过轴孔连接同时与中心齿轮啮合;圆弧腿一端与保持架通过轴孔连接,连接杆一端与圆弧腿铰接,连接杆另一端与行星齿轮铰接;中心齿轮随减速电机转动而驱动若干行星齿轮转动,进而带动圆弧腿展开或闭合,实现机器人轮式形态和腿式形态的切换。本发明中的新型可变形的轮腿式移动机器人,通过其可变形展开的轮腿结构实现了轮式和腿式运动模式的切换,具备了灵活性、适应性和强大的越障能力。


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    Title :

    Deformable wheel-leg mobile robot


    Additional title:

    一种可变形的轮腿移动机器人


    Contributors:
    QIN JIANJUN (author) / XIE ZIJIAN (author) / ZHANG RONG (author) / LI HAIBO (author) / HU YIFAN (author) / ZHAO YUE (author) / CAO YU (author) / FANG SHIHAO (author) / CHEN XIFU (author) / SHAO PAI (author)

    Publication date :

    2023-12-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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