The invention discloses a foldable four-wheel leg type obstacle crossing robot stable in running posture, and belongs to the field of robotics.The foldable four-wheel leg type obstacle crossing robot comprises a control cabin, a lower pod and mechanical legs, a controller and an oil feeding brake mechanism are arranged in the control cabin, and a bottom plate of the control cabin is connected with the four mechanical legs through four tensioning frames; each mechanical leg comprises a leg root yawing joint, a thigh joint, a knee joint, a shank joint, a wheel steering joint and an active driving wheel; each leg root yawing joint comprises a first transmission shaft, a second transmission shaft, a first servo motor, a leg root connecting rod and an electromagnetic clutch; each active driving wheel comprises a driving motor, a wheel shaft, a wheel, a brake disc and a brake pad, an oil cavity and a movable groove are formed in each brake pad, each oil cavity is connected with the corresponding oil feeding brake mechanism, and a piston is arranged in each oil cavity. According to the foldable four-wheel leg type obstacle crossing robot with the stable running posture, the active driving wheels are high in advancing control precision, the posture of the mechanical legs is easy to keep fixed, and the stability of the robot body is high.

    本发明公开了一种运行姿态稳定的可收折四轮腿式越障机器人,属于机器人领域,包括控制舱、下吊舱和机械腿,控制舱内设有控制器和送油刹车机构,控制舱的底板通过四个张紧架分别与四个机械腿连接,机械腿包括腿根横摆关节、大腿关节、膝关节、小腿关节、车轮转向关节和主动驱动车轮,腿根横摆关节包括第一传动轴、第二传动轴、第一伺服电机、腿根连杆和电磁离合器;主动驱动车轮包括驱动电机、车轮轴、轮子、刹车盘和刹车片,刹车片上设有油腔和活动槽,油腔与送油刹车机构连接,油腔内设有活塞。本发明采用上述结构的一种运行姿态稳定的可收折四轮腿式越障机器人,主动驱动车轮行进控制精度高,机械腿姿态易保持固定,机身稳定性高。


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    Title :

    Foldable four-wheel leg type obstacle crossing robot stable in running posture


    Additional title:

    一种运行姿态稳定的可收折四轮腿式越障机器人


    Contributors:
    FENG HUASHAN (author) / ZHANG JIAYANG (author) / CHEN GUILONG (author) / ZHANG YEBIAO (author) / WEN JIAHAO (author) / NI SHUQING (author) / LI XIN (author)

    Publication date :

    2024-04-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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