The reconfigurable and connecting rod type telescopic wheel-leg mechanism comprises an upper leg supporting piece, a lower pull rod, a middle leg supporting piece and a lower leg supporting piece, the upper end of the middle leg supporting piece is hinged to a joint motor set, and the upper end of the lower pull rod is hinged to a hinge seat I through a universal joint; the middle leg supporting piece is of a telescopic linear servo structure, the upper end of the lower pull rod is hinged to the hinge seat I through a universal joint, and the lower pull rod is a telescopic pull rod. On the basis of a primary wheel leg mechanism, the telescopic middle leg supporting piece and the telescopic lower leg supporting piece are designed, so that the adaptability of the whole wheel leg is higher, and the length of the leg can be flexibly adjusted according to different terrains and obstacle heights, so that the robot can better adapt to various complex environments; the technical problem that the working environment is limited due to the fact that the height of the wheel leg mechanism and the robot exceeds the limit during leg lifting in the prior art is solved, and the purpose of flexible use is achieved.
本发明公开了一种可重构并连杆式伸缩轮腿机构及其轮腿机器人,包括上腿支撑件、下拉杆、中腿支撑件和下腿支撑件,中腿支撑件的上端铰接在关节电机组上,下拉杆的上端通过万向接头铰接在铰接座Ⅰ上,中腿支撑件为可伸缩的直线伺服结构,下拉杆的上端通过万向接头铰接在铰接座Ⅰ上,下拉杆为可伸缩拉杆。在初代轮腿机构的基础上,我们设计了可伸缩式的中腿支撑件和下腿支撑件,使得整个轮腿的适应性更强,因为它可根据不同地形和障碍物高度灵活调节腿部长度,使机器人能够更好地适应各种复杂环境,解决上述背景技术中轮腿机构及机器人在抬腿时高度超限而使得工作环境受限的技术问题,达到使用灵活的目的。
Reconfigurable connecting rod type telescopic wheel-leg mechanism and wheel-leg robot thereof
可重构并连杆式伸缩轮腿机构及其轮腿机器人
2024-09-13
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |