The invention relates to the technical field of robot compliant moving system design, and discloses a hinge-driven bistable wheel-leg switching mechanism which comprises a bistable structure with a wheel-shaped steady state and a leg-shaped steady state, the bistable structure comprises a rack and a first driving module, the rack comprises a plurality of spokes distributed in an array mode, and the first driving module comprises a first driving module and a second driving module. A hinge and a pseudo-rigid rod are arranged between the end parts of two adjacent spokes, and the hinge is connected with the first driving module; the hinge is bent and deformed under the forward action of the first driving module, the bistable structure is converted into a leg shape from a wheel shape, and when the first driving module stops acting, the hinge recovers to the original shape, and the bistable structure recovers to the wheel shape from the leg shape; and the rigidity of the pseudo-rigid rod is greater than that of the hinge. According to the invention, flexible deformation can occur when encountering an obstacle, so that the device adapts to various unstructured terrain environments, and has better buffering and energy-absorbing characteristics.
本发明涉及机器人柔顺移动系统设计技术领域,公开了一种铰链驱动的双稳态轮腿转换机构,包括具有轮形和腿形两个稳态的双稳态结构,所述双稳态结构包括机架和第一驱动模块,所述机架包括若干个阵列分布的轮辐,两邻轮辐的端部之间设置有铰链和伪刚体杆,所述铰链与第一驱动模块连接;所述铰链在第一驱动模块的正向作用下发生弯曲变形,双稳态结构由轮形转换为腿形,当第一驱动模块的停止作用时,所述铰链恢复原状,双稳态结构由腿形恢复至轮形;所述伪刚体杆的刚度大于铰链的刚度。本发明能够在遇到障碍物时发生柔性形变,从而适应非结构化的多种地形环境,并且具有更好的缓冲吸能特性。
Hinge-driven bistable wheel-leg switching mechanism
一种铰链驱动的双稳态轮腿转换机构
2025-03-14
Patent
Electronic Resource
Chinese
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