The invention belongs to the technical field of robot walking mechanisms, and discloses a walking mechanism of a deformable wheel leg type mobile robot, which comprises a deformable wheel body mounted on a wheel shaft, and the deformable wheel body comprises a fixed disc, a deformation driving module, a movable disc, a disc transmission module, a plurality of extension discs and a supporting leg module which are mounted on the wheel shaft. The movable petal disc and the fixed petal disc are concentrically arranged and rotationally connected together, the fixed end of the deformation driving module is installed on the outward side of the fixed petal disc, and the output end of the deformation driving module is fixed to the movable petal disc and drives the movable petal disc to rotate around the center of the movable petal disc; the shape of each extending petal block is composed of two side edges and an outer arc edge, and in the contraction state, all the extending petal blocks are spliced into a disc structure concentric with the fixed petal disc. The problems that the unfolding distance is too small and the obstacle crossing performance is insufficient are solved; on the other hand, the problem that the supporting leg structure is clamped by obstacles is avoided.
本发明属于机器人行走机构技术领域,公开了可变形轮腿式移动机器人的行走机构,包括安装在轮轴上的可变形轮体,所述可变形轮体包括安装在轮轴上的定瓣盘、变形驱动模块、动瓣盘、瓣块传动模块、若干伸展瓣块和支腿模块,所述动瓣盘与所述定瓣盘同心设置并转动连接在一起,所述变形驱动模块的固定端安装在所述定瓣盘朝外一侧,所述变形驱动模块的输出端与所述动瓣盘固定并驱动所述动瓣盘绕自身中心转动,所述伸展瓣块的形状由两个侧边和一个外弧边组成,在收缩状态下,所有伸展瓣块拼成与所述定瓣盘同心的圆盘结构。本发明避免展开距离过小,越障性能不足的问题;另一方面避免支腿结构被障碍物卡住的问题。
Traveling mechanism of deformable wheel-leg type mobile robot
可变形轮腿式移动机器人的行走机构
2025-03-21
Patent
Electronic Resource
Chinese
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