The wheel-legged robot comprises a robot body, a control module, leg structures, rotating shafts, feet, first bevel gears, a driving assembly and driving wheels, each leg structure is transversely provided with one rotating shaft, each foot comprises a fixing base and a foot end which are connected, each rotating shaft penetrates through the center of the corresponding first bevel gear and the corresponding fixing base, and each rotating shaft is provided with a first bevel gear and a second bevel gear; each leg structure is provided with a driving assembly comprising a first driving part and a second driving part, the first driving parts are in meshing transmission with the first bevel gears through second bevel gears, in the walking mode, the control module controls the first driving parts to rotate so as to synchronously drive the rotating shafts and the feet to rotate, and each second driving part is in transmission connection with a driving wheel. In the running mode, the control module controls the second driving part to rotate so as to drive the driving wheels to roll, and in the walking mode, the control module further controls the second driving part to be locked. According to the robot, the maneuverability is improved, and efficient operation under the complex non-structural terrain is met.
本申请提供一种可切换模式的轮腿机器人,包括机身、控制模组、腿部结构、转轴、足部、第一锥齿轮、驱动组件和驱动轮,每一腿部结构横置有一转轴,足部包括相连接的固定座和足端,每一转轴穿过一第一锥齿轮的中心以及一固定座,每一腿部结构安装有包括第一驱动件和第二驱动件的驱动组件,第一驱动件通过第二锥齿轮啮合传动于第一锥齿轮,处于行走模式时,控制模组控制第一驱动件转动以同步带动转轴和足部转动,每一第二驱动件传动连接有一驱动轮,处于行驶模式时,控制模组控制第二驱动件转动以带动驱动轮滚动,处于行走模式时,控制模组还控制第二驱动件锁定。本申请提供的机器人利于提高机动性以及满足在复杂非结构地形下高效运行。
Wheel-legged robot capable of switching modes
可切换模式的轮腿机器人
2024-12-03
Patent
Electronic Resource
Chinese
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