The invention relates to the technical field of mobile robots, in particular to a mobile robot convenient for leg and wheel switching, which comprises a vehicle body, four wheel assemblies are symmetrically mounted on two sides of the vehicle body, the center of each wheel assembly is rotatably mounted on the vehicle body through a wheel axle, and each wheel axle is controlled to rotate by a swinging and rotating multiplexing motor; the wheel assembly comprises a wheel body structure composed of a thigh arc section and two shank arc sections, the middle of the thigh arc section is fixed to a wheel shaft body through a supporting piece, and one ends of the two shank arc sections are correspondingly and rotationally connected with the two ends of the thigh arc section through joint shafts correspondingly. The other ends of the two shank arc sections are respectively controlled by two joint motors to swing, open and close or walk; the mobile robot is smoother and more stable during leg wheel switching, small in height change, simple and light in structure and lower in energy consumption.
本发明涉及移动机器人技术领域的一种便于腿轮切换的移动机器人,包含车体,所述车体两侧对称安装有四个车轮组件,每个车轮组件中央均通过轮轴转动安装于车体,且每个轮轴均由摆转复用电机控制转动;所述车轮组件包含由一个大腿弧段和两个小腿弧段组成的轮体结构,所述大腿弧段中部通过支撑件固定于轮轴轴身,两个小腿弧段的一端均通过关节轴分别与大腿弧段的两端对应转动连接,两个小腿弧段的另一端分别通过两个关节电机控制摆动开合或行走;该移动机器人在腿轮切换时更加流畅稳定,高度变化小,且结构简单轻便,能耗更低。
Mobile robot convenient for leg wheel switching
一种便于腿轮切换的移动机器人
14.02.2025
Patent
Elektronische Ressource
Chinesisch
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