The invention discloses a wheel-legged mobile robot capable of being elastically unfolded, and belongs to the field of mobile robots. Comprising a robot body, two elastically-expandable wheel leg structures and a transmission structure. The elastic unfolding wheel leg structure comprises a special-shaped ratchet wheel, a retainer, a fixing frame and a plurality of unfolding leg assemblies distributed in an annular array. The unfolding leg assembly comprises an arc leg, a first sliding pin shaft and a first fixed pin shaft, a plurality of first guide grooves are formed in the retainer, the first sliding pin shaft is matched with the limiting clamping groove to enable the arc leg to be in a contraction state, and the first sliding pin shaft is matched with the tooth groove to enable the arc leg to be in an unfolding state. According to the wheel-leg type mobile robot, switching of two movement modes including a wheel type mode and a leg type mode can be achieved through the elastically-unfolded wheel-leg structure and the transmission structure, so that the robot has the advantages of the wheel type and the leg type, the appropriate movement modes can be selected according to different terrains when tasks are executed in the complex environment, adaptability is good, flexibility is high, and the robot is suitable for being popularized and applied. And the obstacle crossing capability is high.
本发明公开了一种可弹性展开的轮腿式移动机器人,属于移动机器人领域;包括机器人机身、两个可弹性展开轮腿结构以及传动结构;可弹性展开轮腿结构包括异形棘轮、保持架、固定架和环形阵列分布的若干组展开腿组件;展开腿组件包括圆弧腿、第一滑动销轴、第一固定销轴,保持架上设有若干导向槽一,第一滑动销轴与限位卡槽配合使圆弧腿处于收缩状态,第一滑动销轴与齿槽配合使圆弧腿处于展开状态。该轮腿式移动机器人通过可弹性展开轮腿结构和传动结构能够实现轮式形态和腿式形态两种运动模式的切换,使机器人兼具轮式和腿式的优点,在复杂环境下执行任务时可根据地形的不同选择合适的运动模式,适应性好,灵活性高,越障能力强。
Wheel-legged mobile robot capable of being elastically unfolded
一种可弹性展开的轮腿式移动机器人
2023-12-22
Patent
Electronic Resource
Chinese
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