The invention belongs to the technical field of robots, and discloses a claw-type wheel leg mechanism and a robot, the claw-type wheel leg mechanism comprises a wheel, a wheel shaft on the wheel is fixedly connected with a driving gear, two sides of the driving gear are in engaged connection with first driven gears, and the other sides of the first driven gears are in engaged connection with second driven gears; the two rocking bars are arranged in parallel in the vertical plane, and one end of each rocking bar is fixedly connected with the second driven gear; the connecting rod is located between the two rockers, and the two ends of the connecting rod are rotationally connected with the other ends of the two rockers; the two hook claws are symmetrically arranged in a vertical plane, and the lower ends of the two hook claws are fixedly connected with the two ends of the connecting rod respectively. The wheels and the hook claws move synchronously, and the hook claws cannot make contact with the ground all the time and do climbing motion towards the upper front portion. The robot adopting the claw type wheel leg mechanism has high terrain adaptability and can cross steps and climb stairs.

    本发明属于机器人技术领域,公开一种钩爪式轮腿机构及机器人,包括轮子,轮子上的轮轴固定连接有主动齿轮,主动齿轮的两侧均啮合连接有第一从动齿轮,第一从动齿轮的另一侧均啮合连接有第二从动齿轮;两个摇杆,两个摇杆在竖直平面内平行设置,摇杆的一端与第二从动齿轮固定连接;一个连杆,连杆位于两个摇杆之间,连杆的两端与两个摇杆的另一端转动连接;两个钩爪,两个钩爪在竖直平面内对称设置,两个钩爪的下端分别与连杆的两端固定连接。本发明的轮子和钩爪同步运动,钩爪始终不会接触地面,且朝着前上方做攀爬运动。采用本发明的钩爪式轮腿机构的机器人具有很强的地形适应能力,可以跨越台阶和攀爬楼梯。


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    Title :

    Claw type wheel leg mechanism and robot


    Additional title:

    一种钩爪式轮腿机构及机器人


    Contributors:
    ZHANG QI (author) / WEI ZHONG (author) / GU YUQUAN (author) / XUE JIE (author) / YU ZIYANG (author) / CAI ZHIQI (author) / LIU JIA (author) / SONG AIGUO (author)

    Publication date :

    2025-03-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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