The invention discloses a wheel-legged biped robot and a control method, the wheel-legged biped robot comprises a wheel seat, a connecting rod assembly, a bearing seat and a driving assembly, and tires are rotatably arranged on the wheel seat; the connecting rod assembly comprises a first connecting rod, a second connecting rod and a third connecting rod which are sequentially hinged, the end, away from the second connecting rod, of the first connecting rod is hinged to the first hinge portion of the wheel seat, and the end, away from the second connecting rod, of the third connecting rod is hinged to the second hinge portion of the wheel seat. The wheel seat, the first connecting rod, the second connecting rod and the third connecting rod jointly form a parallelogram structure; the bearing seat is arranged on the connecting rod assembly; the driving assembly is in driving connection with at least one of the first connecting rod, the second connecting rod and the third connecting rod and used for adjusting the distance between the first connecting rod and the third connecting rod. The wheel-legged biped robot disclosed by the invention is better in loading capacity.

    本发明公开了一种轮腿式双足机器人及控制方法,轮腿式双足机器人包括轮座、连杆组件、承载座和驱动组件,轮座上可转动地设置有轮胎;连杆组件包括有依次铰接的第一连杆、第二连杆和第三连杆,第一连杆背离第二连杆的一端与轮座的第一铰接部相铰接,第三连杆背离第二连杆的一端与轮座的第二铰接部相铰接,第一铰接部位于第二铰接部的上侧,轮座、第一连杆、第二连杆和第三连杆共同构成平行四边形结构;承载座设于连杆组件上;驱动组件与第一连杆、第二连杆和第三连杆中的至少一个驱动连接,且用于调节第一连杆和第三连杆之间的距离。本发明的轮腿式双足机器人的负载能力更好。


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    Title :

    Wheel-legged biped robot and control method


    Additional title:

    一种轮腿式双足机器人及控制方法


    Contributors:
    WEI ZHIHUA (author) / TAN JUN (author)

    Publication date :

    2025-05-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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