The invention relates to the technical field of robots, in particular to an agricultural all-terrain transportation robot which solves the problem that in the prior art, the wheel deformation direction of a robot is limited, the agricultural all-terrain transportation robot comprises a machine body, a wheel leg mechanism is movably connected to the machine body, and the lower end of the wheel leg mechanism is connected with a deformation wheel; the deformation wheel comprises a main rotating disc and an auxiliary rotating disc which are arranged in parallel, the main rotating disc is connected with the wheel leg mechanism, the auxiliary rotating disc is rotationally arranged on the main rotating disc, and a rotating executing mechanism and a plurality of rotating hub mechanisms are arranged between the main rotating disc and the auxiliary rotating disc. The multiple rotating hub mechanisms are arranged in a circumferential array mode with the rotating center of the auxiliary rotating disc as the circle center, and the rotating executing mechanism drives the auxiliary rotating disc to rotate bidirectionally relative to the main rotating disc. The rotating hub mechanism is rotationally connected with the edge part of the main rotating disc, and the rotating hub mechanism is movably connected with the auxiliary rotating disc. The robot has the beneficial effects that the rotation executing mechanism drives the auxiliary rotating disc to rotate bidirectionally, so that the deformation wheels can deform bidirectionally, and the flexibility of the robot is improved.

    本发明涉及机器人技术领域,特别是指一种农业全地形运输机器人,解决了现有技术中机器人车轮变形方向受限的问题,包括机体,机体上活动连接有轮腿机构,轮腿机构的下端连接有变形轮;变形轮包括平行布置的主旋转盘和副旋转盘,主旋转盘与轮腿机构连接,副旋转盘转动设置在主旋转盘上,主旋转盘与副旋转盘之间设有旋转执行机构和多个旋转轮毂机构,多个旋转轮毂机构以副旋转盘的转动中心为圆心呈圆周阵列布置,旋转执行机构带动副旋转盘相对于主旋转盘进行双向转动;旋转轮毂机构与主旋转盘的边沿部位转动连接,旋转轮毂机构与副旋转盘活动连接。有益效果是:旋转执行机构带动副旋转盘进行双向转动使变形轮能够进行双向变形,提高机器人的灵活性。


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    Title :

    Agricultural all-terrain transportation robot with deformable wheels


    Additional title:

    一种具有可变形车轮的农业全地形运输机器人


    Contributors:
    NI LIWEI (author) / ZHANG HONGSONG (author) / MENG YUBO (author) / YANG PENG (author) / ZHANG ZIRUI (author) / BAO YING (author) / LI LILIN (author) / MA ZONGZHENG (author)

    Publication date :

    2025-05-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60B VEHICLE WHEELS , Räder für Fahrzeuge / B62D MOTOR VEHICLES , Motorfahrzeuge



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