The invention provides a deformation wheel and a robot, and belongs to the technical field of robots. The deformation wheel comprises a wheel body, at least two mechanical legs, a leg driving part, a first energy storage element and a second energy storage element, the mechanical leg is connected with the wheel body and can be folded or unfolded relative to the wheel body, the mechanical leg comprises an arc-shaped leg rod and a connecting rod, and the connecting rod comprises an arc-shaped section and a straight section which are connected; the wheel body is provided with a containing cavity, the first end of the arc-shaped leg rod is hinged to the wheel body in the containing cavity, the second end of the arc-shaped leg rod is hinged to the end of the arc-shaped section, and the end of the straight section is hinged to the leg driving piece. When the at least two mechanical legs are folded relative to the wheel body, the positions of the at least two mechanical legs are staggered; the leg driving parts are located on the wheel bodies and used for driving the mechanical legs to be folded or unfolded relative to the wheel bodies; two ends of the first energy storage element are respectively connected to the wheel body and the arc-shaped leg rod; two ends of the second energy storage element are respectively connected to the connecting rod and the leg driving piece. The deformation wheels can be switched between the round wheel state and the leg wheel state and have the bouncing capacity, and the adaptive capacity of the robot to various terrains is improved.

    本公开提供了变形轮及机器人,属于机器人技术领域。该变形轮包括轮体、至少两个机械腿、腿驱动件、第一和第二储能元件;机械腿与轮体连接且相对轮体可收起或展开,机械腿包括弧形腿杆和连杆,连杆包括相连接的弧形段和平直段;轮体具有容置腔,弧形腿杆第一端在容置腔内与轮体铰接,弧形腿杆第二端与弧形段的端部铰接,平直段端部与腿驱动件铰接。至少两个机械腿相对轮体收起时,至少两个机械腿的位置错开;腿驱动件位于轮体上,用于驱动机械腿相对轮体收起或展开;第一储能元件两端分别连接于轮体和弧形腿杆,第二储能元件两端分别连接于连杆和腿驱动件。变形轮能在圆轮状态和腿轮状态下切换且具有弹跳能力,提高机器人对各种地形的适应能力。


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Deformation wheel, robot and control method thereof


    Weitere Titelangaben:

    变形轮、机器人及其控制方法


    Beteiligte:
    XU QIWEI (Autor:in) / XU HAO (Autor:in) / YAO YANZHANG (Autor:in) / XIONG KUN (Autor:in)

    Erscheinungsdatum :

    03.02.2023


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

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



    Deformation wheel and mobile robot

    WU FENGQI / DENG ZHIYAN / LI ZHI et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    Wheel-legged robot and control method thereof

    LIU TAO / HUANG XINYAN / HE LONG et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Wheel and track replacement deformation robot

    WANG YU / LIU HONGBIN / LI HUAWEN et al. | Europäisches Patentamt | 2015

    Freier Zugriff

    Deformation wheel and robot with same

    ZHANG DONGSHENG / QIAN ZEYU | Europäisches Patentamt | 2023

    Freier Zugriff

    Double-wheel-foot robot and control method thereof

    ZHANG YUANSHUAI / XU HONG / XUE LIN et al. | Europäisches Patentamt | 2024

    Freier Zugriff