Six-foot wheel leg type crawling robot

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Six-foot wheel leg type crawling robot

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WU XIRU / HUANG FENGTANG / LIU JINXIA / ZHANG XIANGWEN

The invention discloses a six-foot wheel leg type crawling robot. The distance between the head of a robot body and the middle of the robot body is adjusted through a first extension component, and afirst steering engine and a second steering engine are matched to adjust the yaw angle and the pitch angle of the head of the robot body and the pitch angle of the middle of the robot body; the distance between the machine body middle part and the machine body rear part is adjusted through the second extension part, and the third steering engine and the fourth steering engine are matched to adjustthe yaw angle and the pitch angle of the machine body rear part and the machine body middle part, so that the ditch crossing capability is enhanced, the ladder climbing height is increased, and the turning radius is reduced; the technical problem that in the prior art, a wheel-legged mobile robot cannot adjust the shape of the robot according to the terrain is solved.

本发明公开了一种六足轮腿式爬行机器人，通过所述第一延展部件调节所述机体头部和所述机体中部的间距，所述第一舵机和所述第二舵机配合调整所述机体头部和所述机体中部的偏航角和俯仰角，通过所述第二延展部件调整所述机体中部和所述机体后部的间距，所述第三舵机与所述第四舵机配合调整所述机体后部和所述机体中部的偏航角和俯仰角，增强了跨越沟渠的能力，增高了攀越阶梯的高度，减小了转弯半径，解决了现有技术中的轮腿式移动机器人不能根据地形调整自身形态的技术问题。