According to the leg wheel mechanism of the leg wheel type four-wheel-drive four-rotation robot and the control method, a rotating shaft driving device drives a rotating shaft II 7 to rotate so as to drive a wheel 13 to rotate, so that steering of the robot is achieved, a first swing driving mechanism drives a joint leg I 17 to rotate, a second swing driving mechanism drives a joint leg II 14 to rotate, and lifting of the wheel 13 is achieved; the obstacle crossing function or stair climbing requirement of the robot can be met, the driving requirement of the robot on a bumpy road surface is met, the road surface environment adaptability of the robot is enhanced, and the multi-scene applicability of the robot is improved.
一种腿轮式四驱四转机器人的腿轮机构及控制方法,转轴驱动装置驱动转轴Ⅱ7转动,从而实现驱动车轮13转动,因此实现机器人转向,第一摆动驱动机构驱动关节腿Ⅰ17转动,第二摆动驱动机构驱动关节腿Ⅱ14转动,实现车轮13的抬升,可以满足机器人的越障功能或者爬楼需求,且满足机器人在颠簸路面上行驶需求,增强机器人的路面环境适应性,提高机器人的多场景适用性。
Leg wheel mechanism of leg wheel type four-wheel-drive four-rotation robot and control method
一种腿轮式四驱四转机器人的腿轮机构及控制方法
2023-07-21
Patent
Electronic Resource
Chinese
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