The invention discloses a deformable soft spoked wheel with three states and a wheel leg robot, and relates to the technical field of robots. The device comprises a rack, a rotating shaft is rotationally connected to the rack, the interior of the rotating shaft is hollow, a pneumatic sliding ring is installed at one end of the rotating shaft, an air supply unit is connected to the pneumatic sliding ring, and the air supply unit is fixed to the rack; the end, away from the air supply unit, of the rotating shaft is fixedly connected with a connecting piece, and the interior of the connecting piece is hollow. The deformable spoked wheel provided by the invention has a small wheel mode, a large wheel mode and a leg mode, the maneuverability of a robot is improved by applying the large wheel mode on a flat ground, various obstacles are overcome by applying the leg mode on a rugged ground so as to facilitate obstacle crossing, and the deformable spoked wheel is convenient to pass through a low environment by applying the small wheel mode; and switching among the modes can be achieved only through control of a single air pump, the structure is simple, operation is convenient and fast, and the terrain adaptive capacity of the robot is improved.

    本发明公开了具有三种状态的可变形软体辐条轮及轮腿机器人,涉及机器人技术领域。本发明包括机架,所述机架上转动连接有转轴,所述转轴的内部设置为中空状,所述转轴的一端安装有气动滑环,所述气动滑环上连接有供气单元,供气单元固定在机架上;所述转轴远离供气单元的一端固定连接有连接件,所述连接件内部为中空状。本发明的提供的可变形辐条轮具有小轮模式、大轮模式和腿式模式,在平坦地面上,应用大轮模式提高机器人的机动性,在崎岖地面上,应用腿式模式克服各种障碍便于进行越障,而应用小轮模式便于通过低矮环境,且各模式之间的切换仅通过单个气泵控制即可实现,结构简单,操作便捷,提高了机器人的地形适应能力。


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    Title :

    Deformable soft spoked wheel with three states and wheel leg robot


    Additional title:

    具有三种状态的可变形软体辐条轮及轮腿机器人


    Contributors:
    GU YUQUAN (author) / WEI ZHONG (author) / XUE JIE (author) / ZHANG QI (author) / YANG YANG (author) / XIANG SHENG (author) / WANG WEIXI (author) / LIU JIA (author) / SONG AIGUO (author)

    Publication date :

    2024-12-31


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60B VEHICLE WHEELS , Räder für Fahrzeuge



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