The invention discloses a wheel-leg switching robot which comprises a base, wheel-leg devices, a first driving device and a second driving device, the wheel-leg device comprises a supporting body, a wheel disc unit, a connecting rod assembly and a reset body, the two ends of the connecting rod assembly are rotationally connected with the wheel disc unit and the supporting body correspondingly, and the reset body abuts against the connecting rod assembly and the wheel disc unit; each wheel-leg device is connected with the first driving device, a driving wheel is used for driving the supporting body to rotate, the second driving device comprises a driving unit and a plurality of driving ropes, and the driving unit is used for winding and unwinding the driving ropes so that the connecting rod assembly can be unfolded or folded under the abutting action of the reset body. According to the wheel-leg switching robot, the first driving device is used for driving the wheel-leg devices to walk, the second driving device drives the wheel-leg devices to conduct wheel-leg switching through winding and unwinding the ropes, all the driving ropes can be wound and unwound through the second driving device, the number of the driving units is small, control is convenient, and the structure of the wheel-leg switching robot is greatly simplified.
本发明公开了一种轮腿切换机器人,包括基座、轮腿装置、第一驱动装置与第二驱动装置,轮腿装置包括支撑体、轮盘单元、连杆组件与复位体,连杆组件的两端分别与轮盘单元、支撑体转动连接,复位体与连杆组件、轮盘单元抵持,每一轮腿装置均连接有第一驱动装置,驱动轮用于带动支撑体转动,第二驱动装置包括驱动单元与多根驱动绳,驱动单元用于收放驱动绳,以使连杆组件展开,或在复位体的抵持作用下折叠。本发明中,第一驱动装置用于驱动轮腿装置行走,第二驱动装置通过收放绳索来驱动轮腿装置进行轮腿切换,所有驱动绳均可由第二驱动装置进行收放,驱动单元的数量少,便于控制,极大地简化了轮腿切换机器人的结构。
Wheel-leg switching robot
轮腿切换机器人
2022-02-15
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Wheel-foot switching device suitable for wheel-foot robot
European Patent Office | 2022
|Wheel-legged mobile platform, operation mode switching method and wheel-legged robot
European Patent Office | 2022
|