The invention belongs to the technical field of robots, and relates to a switchable wheel-foot composite mechanism of a mechanical foot of a quadruped robot, the switchable wheel-foot composite mechanism comprises a wheel mechanism, a foot mechanism and a wheel-foot switching device, the wheel-foot switching device comprises a driving motor, a lead screw and a lead screw sliding block, one end of the lead screw is fixedly connected with an output shaft of the driving motor, and the other end of the lead screw is rotatably connected with the wheel mechanism; the lead screw sliding block is coaxially sleeved with the lead screw, the lead screw sliding block is fixedly connected with the foot mechanism, the driving motor rotates to drive the lead screw to rotate, the lead screw sliding block moves up and down in the vertical direction to drive the foot mechanism to move up and down, and therefore the wheel mechanism and the foot mechanism are switched to make contact with the ground. According to the four-foot robot, the wheel-foot switching device is arranged between the wheel mechanism and the foot mechanism, switching can be conducted between wheels and feet according to the road surface condition, and the advancing speed and efficiency of the four-foot robot under the flat terrain are improved. And meanwhile, the obstacle crossing ability and the precision and stability of operation at a fixed position are guaranteed. The design of the mechanical feet has the functions of damping and adapting to local fluctuations of terrains.

    本发明属于机器人技术领域,一种四足机器人机械足的可切换轮足复合机构,包括轮机构、足机构和轮足切换装置,轮足切换装置包括驱动电机、丝杠和丝杠滑块,丝杠一端与驱动电机的输出轴固定连接,另一端与轮机构转动连接,丝杠滑块与丝杠同轴套接,所述丝杠滑块与足机构固定连接,驱动电机转动带动丝杠转动,丝杠滑块沿垂直方向上下运动从而带动足机构上下运动,从而完成轮机构和足机构切换接触地面。本发明在轮机构和足机构之间设置了轮足切换装置,可以根据路面情况在轮和足之间进行切换,提高了四足机器人在平坦地形下的行进速度和效率。同时保障了越障能力以及在固定位置操作的精度和稳定性。机械足的设计具有减震和适应地形局部起伏的功能。


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    Title :

    Switchable wheel-foot composite mechanism of mechanical foot of quadruped robot


    Additional title:

    一种四足机器人机械足的可切换轮足复合机构


    Contributors:
    WANG JIN (author) / ZHAO CHEN (author) / LU ZHELUN (author) / CHENG XIANPING (author) / ZHANG HAIYUN (author) / LU GUODONG (author)

    Publication date :

    2023-03-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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