The invention provides a deformable and combinable wheel-legged robot and a method thereof, and belongs to the technical field of robots and automatic control. Comprising a head electric control box, a rotating chassis located at the bottom of the head electric control box and a pair of walking assemblies installed on the left side and the right side of the rotating chassis, and the pair of walking assemblies can be switched between left-right distribution and front-back distribution in the advancing process in the advancing direction. Wheels at the tail ends of the walking assemblies face the advancing direction all the time in the switching process; the walking assembly comprises shoulder joints, leg assemblies and wheels, the front ends of the shoulder joints are installed on the bottom face of the rotating chassis through shoulder joint rotating motors, the rear ends of the shoulder joints are connected with the front ends of the leg assemblies through hip joint rotating motors, and the rear ends of the leg assemblies are connected with the wheels through wheel motors. Through cooperative movement between the shoulder joint rotating motors and the wheel motors, the robot is converted into a balance bicycle form from a wheel-leg form, and back-to-back combined deformation of a double-wheel-leg robot can be achieved.
本发明提供一种可变形可组合轮腿式机器人及其方法,属于机器人及自动控制技术领域。包括头部电控箱、位于头部电控箱底部的旋转底盘、以及安装在旋转底盘左右两侧的一对行走组件,一对行走组件在朝着前进方向行进过程中能够在左右分布和前后分布之间进行切换,且切换过程中行走组件末端的轮子始终朝向前进方向;行走组件包括肩关节、腿部组件和轮子,肩关节前端通过肩关节旋转电机安装在旋转底盘的底面,肩关节后端通过髋关节旋转电机与腿部组件前端连接,腿部组件后端通过轮子电机与轮子连接。本发明通过肩关节旋转电机、轮子电机之间的配合运动实现机器人从轮腿式形态转为平衡自行车形态,还可实现双轮腿式机器人“背对背”方式的组合变形。
Deformable and combinable wheel-legged robot and method thereof
一种可变形可组合轮腿式机器人及其方法
2024-02-27
Patent
Electronic Resource
Chinese