The invention discloses a wheel-legged robot capable of being unfolded in two directions, and relates to the field of mobile robots, the wheel-legged robot comprises a robot body, two deformable wheel-legged structures and a transmission structure, and the deformable wheel-legged structures are symmetrically arranged on the two sides of the robot body; the transmission structure comprises a rotary driving mechanism and a linear driving mechanism, the linear driving mechanism is used for driving the deformable wheel leg structure to deform, so that the deformable wheel leg structure is unfolded to be in a walking leg state or contracted to be in a round roller shape, and the rotary driving mechanism drives the deformable wheel leg structure to rotate through a driving shaft, so that the robot advances or retreats. According to the novel wheel-legged robot capable of being unfolded in the two directions, switching of three movement modes including a wheel type mode and two leg type modes can be achieved through the deformable wheel-legged structures and the transmission structures, so that the robot has the advantages of the wheel type and the leg type; when a task is executed in a complex environment, a proper movement mode can be selected according to different terrains, the adaptability is good, the flexibility is high, and the obstacle crossing ability is high.

    本发明公开了一种可双向展开的轮腿式机器人,涉及移动机器人领域,包括机器人机身、两个可变形轮腿结构以及传动结构,可变形轮腿结构对称布置在机器人机身的两侧;传动结构包括旋转驱动机构和直线驱动机构,直线驱动机构用于驱动可变形轮腿结构变形,使可变形轮腿结构展开为行走腿状态或收缩成圆形辊轮状,旋转驱动机构通过驱动轴驱动可变形轮腿结构旋转,以实现机器人的前进或后退。本发明中的新型可双向展开的轮腿式机器人,通过可变形轮腿结构和传动结构能够实现轮式形态和两种腿式形态共三种运动模式的切换,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。


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    Title :

    Wheel-legged robot capable of being unfolded in two directions


    Additional title:

    一种可双向展开的轮腿式机器人


    Contributors:
    QIN JIANJUN (author) / XIE ZIJIAN (author) / FANG SHIHAO (author) / LI HAIBO (author) / ZHANG RONG (author)

    Publication date :

    2024-04-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60B VEHICLE WHEELS , Räder für Fahrzeuge



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