The invention relates to the technical field of robots, and discloses a wheel-foot composite robot structure suitable for complex terrains, the wheel-foot composite robot structure comprises a supporting frame, a motor is fixedly connected in the supporting frame, the output end of the motor is connected with a connecting column, and a first connecting rod is fixedly connected in the connecting column; a second connecting rod is fixedly connected to the interior of the connecting column, a lifting assembly is arranged on the inner top wall of the supporting frame, a second gear is connected to the tooth end of one side of the first gear in a meshed mode, first rotating rods are rotationally connected to the interiors of the second gear and the third gear, and supporting legs are rotationally connected to the interiors of the first rotating rods; the inner walls of the supporting legs are rotationally connected with second rotating rods. The first connecting rod and the second connecting rod are driven by the motor to rotate, then the crawler belt is driven by the hydraulic cylinder to ascend and descend, and therefore the robot can better fit the fluctuation of the terrain, the shaking and tipping risks of the robot in the obstacle crossing process are reduced, and meanwhile the robot is more stably supported in the climbing process.
本发明涉及机器人技术领域,公开了一种适用于复杂地形的轮足复合机器人结构,包括支撑框,所述支撑框的内部固定连接有电机,所述电机的输出端连接有连接柱,所述连接柱的内部固定连接有连接杆一,所述连接柱的内部固定连接有连接杆二,所述支撑框的内顶壁设置有升降组件,所述齿轮一的一侧齿端啮合连接有齿轮二,所述齿轮二和齿轮三的内部均转动连接有转动杆一,所述转动杆一的内部转动连接有支撑腿,所述支撑腿的内壁转动连接有转动杆二。通过电机驱动连接杆一和连接杆二进行转动,再通过液压缸驱动履带升降,从而可以达到更好地贴合地形的起伏,减少机器人在跨越障碍过程中的晃动和倾翻风险,同时使机器人在攀爬过程中有更稳定的支撑。
Wheel-foot composite robot structure suitable for complex terrains
一种适用于复杂地形的轮足复合机器人结构
2025-05-09
Patent
Electronic Resource
Chinese
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