The invention discloses a wheel-foot robot applicable to various road conditions, which comprises a wheel-foot robot main body, a supporting mechanism for supporting the wheel-foot robot main body is arranged on the wheel-foot robot main body, and the supporting mechanism comprises two groups of supporting devices respectively arranged on the front side and the rear side of the wheel-foot robot main body; each supporting device comprises an abutting plate and a flexible supporting structure, and the abutting plate can only vertically slide along the wheel-foot robot body. The flexible supporting structure comprises a rotating frame and two rotating plates, the rotating frame is fixed to the bottom of the abutting plate, the connecting ends of the two rotating plates are rotationally installed on the rotating frame, and the top face of each rotating plate elastically abuts downwards through at least one elastic abutting assembly. The lifting driving mechanism drives the abutting plate to ascend and descend, so that the flexible supporting structure installed at the bottom of the abutting plate is higher than or lower than the bottom of the wheel-foot robot body. The wheel-foot robot has the advantage that the wheel-foot robot body can be automatically supported conveniently in the wheel-foot switching process.
本发明公开了一种可适用于多种路况的轮足机器人,包括轮足机器人主体,轮足机器人主体上设有将轮足机器人主体支撑起来的支撑机构,支撑机构包括分别设置在轮足机器人主体前后两侧的两组支撑装置;每组支撑装置包括抵压板和柔性支撑结构,抵压板仅能沿着轮足机器人主体竖向滑动;柔性支撑结构包括转动架和两个转动板,转动架固定在抵压板底部,两个转动板的连接端分别转动安装在转动架上,每个转动板顶面通过至少一组弹性抵压组件向下弹性抵压;通过升降驱动机构驱动抵压板升降,使得抵压板底部安装的柔性支撑结构高于或低于轮足机器人主体底部。本发明的优点:便于在进行轮足切换过程中对轮足机器人本体进行自动支撑。
Wheel-foot robot suitable for various road conditions
一种可适用于多种路况的轮足机器人
2024-06-21
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Wheel-foot switching device suitable for wheel-foot robot
European Patent Office | 2022
|Leg structure of wheel-foot robot, wheel-foot robot and four-wheel-foot robot
European Patent Office | 2024
|