The multi-mode wheel-leg robot comprises a robot body, leg assemblies and wheel-leg conversion assemblies, the leg assemblies are arranged on the two sides of the robot body, the wheel-leg conversion assemblies comprise walking wheels, and wheel shafts are arranged in the middles of the walking wheels and fixedly connected with walking wheel motors arranged at the lower ends of the leg assemblies; the foot supporting seat is arranged between the lower end of the leg assembly and the walking wheel, an inserting groove is formed in the upper portion of the foot supporting seat, a shaft sleeve is arranged on the lower portion of the foot supporting seat and rotationally arranged on the wheel shaft in a sleeving mode, the foot type module is arranged on the outer side of a tread of the walking wheel and fixedly connected with the sliding connecting piece, and the sliding connecting piece is provided with an inserting plate inserted into the inserting groove. The two sides of the inserting plate are connected with the shaft sleeves through springs, a hanging shaft is arranged on the sliding connecting piece, a movable hook is arranged at the lower end of the leg assembly, and the hanging shaft is arranged in the hook during mode conversion. According to the invention, conversion between a foot-type mode and a wheel-type mode can be carried out according to different terrain environments, so that operation requirements can be better met.

    本发明涉及一种轮足可切换多模态轮腿机器人,包括机身、腿部组件和轮足转换组件,其中腿部组件设于机身两侧,轮足转换组件包括行走轮,且行走轮中部设有轮轴与设于腿部组件下端的行走轮电机固连,足部支撑座设于腿部组件下端和行走轮之间,并且足部支撑座上部设有插槽、下部设有轴套转动套装于轮轴上,足式模块设于行走轮的胎面外侧并与滑动连接件固连,滑动连接件设有插接板插装于所述插槽中,并且插接板两侧通过弹簧与所述轴套连接,滑动连接件上设有挂接轴,腿部组件下端设有可移动的挂钩,模态转换时所述挂接轴置于所述挂钩中。本发明可以根据不同的地形环境进行足式模态和轮式模态的转换,从而能够更好地满足作业要求。


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    Title :

    Multi-mode wheel-leg robot with switchable wheel legs


    Additional title:

    一种轮足可切换多模态轮腿机器人


    Contributors:
    YANG GUANG (author) / WANG TING (author) / LIU LIANQING (author) / ZHANG KAI (author) / PAN CUNYI (author) / SHAO SHILIANG (author) / CAO FENGKUI (author)

    Publication date :

    2024-08-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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