The embodiment of the invention discloses a six-wheel-legged robot with switchable wheels and feet, and relates to the technical field of intelligent robots. According to the scheme, the robot comprises a vehicle body, a depth camera, a laser radar, a thigh unit, a shank unit, a foot switching mechanism, a wheel steering mechanism and driving wheels. The vehicle body is a carrier of the depth camera, the laser radar and the thigh unit, the laser radar is installed on the top of the vehicle body, and the depth camera is installed on the front portion of the vehicle body and can be used for collecting environment information; the shank unit is mounted on the thigh unit through a planet carrier; the wheel steering mechanism is installed on the shank unit through a steering gear connecting rod and can be used for adjusting the posture of the driving wheel. The driving wheels are installed on the wheel frame and can be used for driving the six-wheel leg type robot to move. Aiming at field complex environment detection, the robot not only has a high-speed moving wheel type movement capability, but also has a foot type movement capability with strong obstacle crossing capability.
本发明实施例公开了一种轮足可切换的六轮腿式机器人,涉及智能机器人技术领域。本方案包括车身、深度相机、激光雷达、大腿单元、小腿单元、足部切换机构、车轮转向机构、驱动轮。车身为深度相机、激光雷达、大腿单元的载体,所述激光雷达安装在车身顶部,所述深度相机安装在车身前部,可用于采集环境信息;所述小腿单元通过行星架安装在大腿单元上;车轮转向机构通过转向器连杆安装在小腿单元上,可用于调整驱动轮的位姿;驱动轮安装在车轮架上,可用于驱动六轮腿式机器人运动。针对野外复杂环境探测,不仅具备高速移动的轮式运动能力,还具备强越障能力的足式运动能力。
Six-wheel-legged robot with switchable wheels and feet
一种轮足可切换的六轮腿式机器人
2025-04-18
Patent
Electronic Resource
Chinese