A walking disc and a deformation disc are coaxially connected, one sides of the walking disc and the deformation disc are in contact, one ends of leg claws are movably installed on the deformation disc and the walking disc, the leg claws are located on the side, away from the deformation disc, of the walking disc, and every two adjacent leg claws are movably connected through a connecting rod. The leg claws are arranged in the circumferential direction of the walking disc, the deformation disc can be coaxially connected with a first driving mechanism and is driven by the first driving mechanism to rotate relative to the walking disc, so that the deformation disc drives the leg claws to rotate until the free ends of the leg claws retract, and the peripheries of the walking disc and the deformation disc are used for making contact with the ground; or the deformation disc drives the leg claws to rotate until the free ends of the leg claws are opened, the free ends of the leg claws are used for making contact with the ground, and the walking disc can be coaxially connected with a second driving mechanism and is driven by the second driving mechanism to synchronously rotate with the deformation disc. The variable-structure robot wheel foot has good terrain adaptive capacity, and meanwhile the structure is simpler.
本发明公开了一种可变构的机器人轮足,行走圆盘和变形圆盘同轴连接且一侧接触,腿爪的一端活动安装于变形圆盘和行走圆盘上,且腿爪位于行走圆盘上远离变形圆盘的一侧,相邻的腿爪之间通过连接杆活动连接,腿爪围绕行走圆盘的周向设置,变形圆盘能够与第一驱动机构同轴连接,并在第一驱动机构的带动下相对于行走圆盘转动,以使变形圆盘带动腿爪转动至腿爪的自由端回缩,且行走圆盘和变形圆盘的外周用于接触地面,或使变形圆盘带动腿爪转动至腿爪的自由端张开,且腿爪的自由端用于接触地面,行走圆盘能够与第二驱动机构同轴连接,并在第二驱动机构的带动下与变形圆盘同步转动。该可变构的机器人轮足具有较好的地形适应能力,同时结构更加简单。
Variable-structure robot wheel foot
一种可变构的机器人轮足
2022-07-22
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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