The invention provides a deformation wheel and a robot with the same. The deformation wheel comprises a first half wheel body, a second half wheel body capable of forming a circular wheel with the first half wheel body, and a deformation mechanism. Wherein the first half wheel body is movably connected with the second half wheel body, and the deformation mechanism is connected between the first half wheel body and the second half wheel body; the deformation mechanism is used for controlling the first half wheel body and the second half wheel body to be clamped when the deformation wheel is in the wheel type state so as to form a circular wheel; and the control module is used for controlling at least one of the first half wheel body and the second half wheel body to generate bending at a preset angle relative to the wheel type state through movable connection when the deformation wheel is in the foot type state, so that the folding surface of the deformation wheel is in contact with the ground, and the relative position of the first half wheel body and the second half wheel body is locked. According to the deformable wheel, switching between the wheel type state and the foot type state of the deformable wheel can be achieved, and the manufacturing cost and the structural complexity of the deformable wheel are reduced.
本申请提供了一种变形轮及具有变形轮的机器人;变形轮包括:第一半轮体、可与第一半轮体构成圆形轮的第二半轮体、以及变形机构;其中,第一半轮体与第二半轮体活动连接,变形机构连接于第一半轮体与第二半轮体之间;变形机构,用于在变形轮处于轮式状态时,控制第一半轮体与第二半轮体卡接,以形成圆形轮;以及,用于在变形轮处于足式状态时,控制第一半轮体、第二半轮体中至少之一,通过活动连接相对轮式状态产生预设角度的弯折,以使变形轮折叠面与地面相接触,并锁定第一半轮体与第二半轮体的相对位置。通过本申请,能够实现变形轮的轮式状态与足式状态之间的切换,降低变形轮的制造成本及结构复杂度。
Deformation wheel and robot with same
一种变形轮及具有变形轮的机器人
30.05.2023
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Deformation wheel device, wheel-track-leg walking device and wheel-track-leg robot
Europäisches Patentamt | 2020
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