The invention discloses a deformable wheel-foot composite robot which comprises a robot body, a thigh connecting rod assembly, a shank connecting rod assembly, a wheel type assembly, a foot type assembly, a leg joint module and a wheel type driving module. The leg joint module and the driving module are respectively mounted on the robot body; the leg joint module is connected with one end of the thigh connecting rod assembly; one ends of the shank connecting rod assemblies are connected with the other ends of the thigh connecting rod assemblies and then provided with the wheel type assemblies, the other ends of the two shank connecting rod assemblies on the same side of the robot body are connected, and the robot body, the thigh connecting rod assemblies and the shank connecting rod assemblies on the same side form a five-connecting-rod mechanism. In the foot type mode, the leg joint module drives the five-rod mechanism to move so as to achieve double-foot walking, and in the wheel type mode, the driving module transmits power to the wheel type assembly through the shank connecting rod assembly through gear transmission so as to achieve wheel type driving walking. The power source of the robot and the degree of freedom required by control are reduced, and the control difficulty is reduced.

    本发明公开了一种可变形的轮足复合机器人,包括机器人本体、大腿连杆组件、小腿连杆组件、轮式组件、足式组件、腿部关节模组和轮式驱动模组;腿部关节模组和驱动模组分别安装在机器人本体上;腿部关节模组与大腿连杆组件的一端连接;小腿连杆组件的一端与大腿连杆组件的另一端相连后安装轮式组件,机器人本体同侧两个小腿连杆组件的另一端互相连接,同一侧的机器人本体、大腿连杆组件和小腿连杆组件形成五连杆机构;足式模态下,腿部关节模组驱动五杆机构运动,从而实现双足行走,轮式模态下,驱动模组通过齿轮传动由小腿连杆组件将动力传递到轮式组件,进行轮式驱动行走。本发明减少了机器人的动力源和控制所需的自由度,降低了控制难度。


    Access

    Download


    Export, share and cite



    Title :

    Deformable wheel-foot composite robot


    Additional title:

    一种可变形的轮足复合机器人


    Contributors:
    CHEN LU (author) / CHEN YU (author) / MA TONGXIN (author) / XUE TAO (author) / KIM HO-YONG (author) / MA CHAO (author) / SUN NAN (author)

    Publication date :

    2024-11-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



    Leg structure of wheel-foot robot, wheel-foot robot and four-wheel-foot robot

    CHEN JIAN | European Patent Office | 2024

    Free access

    Wheel-foot-arm composite hexapod robot

    QI CHENKUN / JIA JUNKAI / LI HUAYANG et al. | European Patent Office | 2021

    Free access


    Wheel-foot robot

    LI MENGZHOU | European Patent Office | 2025

    Free access

    Wheel-foot robot

    WANG ZHENG / LI XUEYANG / JIA YUFEI | European Patent Office | 2024

    Free access