A small foldable wheel leg type mobile robot is composed of four foldable wheel legs and a robot body, each foldable wheel leg is composed of a foot pad, a shank, a wheel, a wheel motor, a shank folding motor and a thigh, the robot body is composed of a thigh swing motor, a top panel, a bottom panel, a side panel, a battery and a control system, the top panel and the bottom panel are fixed to the side panel, and the battery and the control system are connected with the foot pad. Cavities formed among the panels are used for placing a load, a battery and a control system assembly. The foot pad is fixedly mounted at the bottom end of the shank; the top ends of the shanks are hinged to the bottoms of the thighs, the hinged positions of the shanks and the thighs can rotate relatively, wheels are installed at the connecting positions of the shanks and the thighs, and wheel motors are installed at wheel shaft positions of the wheels and used for driving the wheels. The thighs are installed on the machine body, and swing of the thighs can be achieved under driving of the thigh swing motors. The invention has four working modes. The advantages of a wheel type moving system and a leg type moving system are combined, the ground adaptability is high, and the working mode can be adjusted in real time according to environment requirements.

    一种小型可折叠轮腿式移动机器人,由四条可折叠轮腿和机身组成,每条可折叠轮腿由足垫、小腿、车轮、车轮电机、小腿折叠电机、大腿组成,机身由大腿摆动电机、顶面板、底面板、侧面板、电池及控制系统组成,顶面板和底面板分别与侧面板固定,各面板间形成的空腔用于放置载荷、电池及控制系统组件。足垫固定安装在小腿底端;小腿顶端与大腿底部铰接,小腿和大腿铰接位置能相对转动,小腿与大腿连接部位安装有车轮,车轮轮轴位置安装有车轮电机,用于车轮的驱动。大腿安装在机身上,在大腿摆动电机驱动下,可实现大腿的摆动。本发明具有四种工作模式。本发明结合了轮式和腿式移动系统的优点,地面适应性强,可根据环境需要实时调整工作模式。


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    Title :

    Small foldable wheel-leg type mobile robot


    Additional title:

    一种小型可折叠轮腿式移动机器人


    Contributors:
    HE LIANBIN (author) / QI YINGCHUN (author) / ZOU MENG (author) / KIM GYUNG-BOK (author) / YU QINGYU (author)

    Publication date :

    2023-06-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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