The invention discloses a wheel-legged robot capable of meeting adaptive motion switching. Comprising wheel-moving unit wheels, a leg foundation frame, leg supporting rods, leg swing rods, rod piece rotation hinges, adjustable crank fixing plates, linear bearing supports, first crank rod connection hinges, wheel-moving motor fixing plates, wheel-moving motors, side swing motors, first crank driving motors, first crank rods and first crank driving motor fixing plates. The device comprises a side-sway supporting shaft fixing plate, a wheel-row unit wheel driving hinge, a linear bearing support fixing plate, a side-sway motor fixing plate, a foot end protective sleeve, a side-sway motor shaft connecting flange and a side-sway motor output connecting plate. The device has the advantages that the structure is simple, and convenience is brought to follow-up machining and control of the robot. According to the invention, on the premise of not adding any device and control point, the adaptive switching of two motion modes can be carried out as required by utilizing the motion of the existing component, and great convenience is brought to the operation and function realization of the system.
本发明公开了一种可满足适应性运动切换的轮腿机器人,包括包括轮行单元轮、腿部基础框架、腿部支撑杆、腿部摆动杆、杆件回转铰链、可调节曲柄固定板、直线轴承支座、第一曲柄杆连接铰链、轮行电机固定板、轮行电机、侧摆电机、第一曲柄驱动电机、第一曲柄杆、第一曲柄驱动电机固定板、侧摆支撑轴固定板、轮行单元轮驱动铰链、直线轴承支座固定板、侧摆电机固定板、足端保护套、侧摆电机轴连接法兰及侧摆电机输出连接板。本发明的优点是:本发明构型简洁,给机器人后续加工、控制带来方便。本发明在不增加任何装置、控制点的前提下,利用现有构件运动即可根据需要进行两种运动模式的适应性切换,给系统的运行和功能实现带来了极大的方便。
Wheel-legged robot capable of meeting adaptive motion switching
一种可满足适应性运动切换的轮腿机器人
2024-10-01
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Wheel-legged mobile platform, operation mode switching method and wheel-legged robot
European Patent Office | 2022
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