CN112706852A - Wheel-leg type robot - Google Patents
Wheel-leg type robot Download PDFInfo
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- CN112706852A CN112706852A CN202110128360.XA CN202110128360A CN112706852A CN 112706852 A CN112706852 A CN 112706852A CN 202110128360 A CN202110128360 A CN 202110128360A CN 112706852 A CN112706852 A CN 112706852A
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- wheel
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- joint
- central shaft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
Abstract
The invention discloses a wheel-leg robot, which comprises a robot body and two mechanical wheel-leg groups, wherein the robot body comprises a head part and a tail part which are sequentially connected along the length direction of the robot body; the two mechanical wheel leg groups are respectively connected to the head and the tail and used for supporting the machine body, and each mechanical wheel leg group comprises two mechanical wheel legs which are arranged along the width direction of the machine body in a separated mode; the mechanical wheel leg comprises a leg arm structure and a wheel structure, the wheel structure is connected to the movable end of the leg arm structure and used for bearing the leg arm structure, and the leg arm structure is movably connected to the machine body and can be adjusted in position towards the width direction of the machine body. If a mechanical wheel leg of the afterbody of fuselage goes wrong, adjust the leg arm structure of another mechanical wheel leg to make the wheel structure move towards the direction of fuselage width, and then make this wheel structure can the stable support afterbody of automobile body, and cooperate other two wheel structures to normally support the robot.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a wheel-legged robot.
Background
Among the correlation technique, to wheel-legged robot, divide into tricycle leg robot, four-wheel leg robot and six round leg robot, because the operational environment of robot is more and more complicated, lead to the robot in the course of the work, the wheel leg of robot receives the damage to lead to corresponding wheel leg unable normal work or unable work completely, and then lead to the unable normal walking of robot.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a wheel-leg type robot which can still normally walk after a certain wheel leg is damaged.
According to the embodiment of the invention, the wheel-leg robot comprises:
the fuselage, include head and foot section connected sequentially along its length direction;
the two mechanical wheel leg groups are respectively connected to the head part and the tail part and used for supporting the machine body, and each mechanical wheel leg group comprises two mechanical wheel legs which are arranged along the width direction of the machine body in a separated mode;
wherein, the mechanical wheel leg includes leg arm structure and wheel structure, wheel structure connect in the expansion end of leg arm structure, so that be used for bearing of leg arm structure, leg arm structure swing joint in the fuselage, with can the orientation the width direction of fuselage is adjusted wheel structure's position.
According to the wheel-leg robot provided by the embodiment of the invention, at least the following beneficial effects are achieved: if one mechanical wheel leg at the tail part of the machine body has a problem, a user adjusts the other mechanical wheel leg at the tail part of the machine body towards the width direction of the machine body, namely, the leg arm structure of the mechanical wheel leg is adjusted, so that the wheel structure moves towards the direction of the machine body, the wheel structure can stably support the tail part of the vehicle body, and the tail part of the machine body is prevented from overturning towards one side of the width direction of the machine body, therefore, the three wheel structures are matched to work, so that the machine body can be normally supported, and the robot can normally walk; similarly, if a mechanical wheel leg at the head of the robot body has a problem, the other mechanical wheel leg at the head of the robot body can be adjusted to enable the mechanical wheel leg to stably support the head of the robot body and to be matched with two mechanical wheel legs at the tail of the robot body, so that the robot can normally walk.
According to some embodiments of the present invention, the leg arm structure comprises a first driving member, a leg arm and a second driving member, the first driving member is connected between the leg arm and the body and is used for driving the leg arm to rotate around a first central axis so as to enable the movable end of the leg arm to move towards the width direction of the body; the second driving piece is connected with the movable end of the leg arm and between the wheel structures and used for driving the wheel structures to rotate around a second central shaft, the first central shaft is parallel to the second central shaft, and the length direction of the machine body is perpendicular to the rotating central shaft of the roller of the wheel structures.
According to some embodiments of the invention, the first central axis is disposed perpendicular to a length direction of the body and a width direction of the body; or, the first central shaft and the length direction of the machine body are arranged in parallel.
According to some embodiments of the invention, the leg arm structure further comprises a first connecting joint, one end of the first connecting joint in the length direction is connected to the driving end of the first driving member, the other end of the first connecting joint is connected to the leg arm, and the length direction of the first connecting joint is perpendicular to the first central axis.
According to some embodiments of the invention, the leg arm comprises:
a thigh joint, the wheel structure being connected to one end of the thigh joint;
and the fourth driving part is connected between the other end of the thigh joint and the first driving part and used for driving the thigh joint to rotate around a fourth central shaft so as to adjust the distance between the wheel structure and the machine body, and the fourth central shaft is parallel to the width direction of the machine body.
According to some embodiments of the invention, the leg arm further comprises:
the wheel structure is connected to one end of the shank joint;
and the fifth driving piece is connected between the thigh joint and the other end of the shank joint and used for driving the shank joint to rotate around a fifth central shaft, and the fifth central shaft and the fourth central shaft are arranged in parallel.
According to some embodiments of the invention, the leg-arm structure further comprises a third driving member connected between the second driving member and the wheel structure for driving the wheel structure to rotate around a third central axis, and the third central axis is parallel to the length direction of the body.
According to some embodiments of the invention, the leg arm structure further comprises a second connecting joint, one end of the second connecting joint being connected to the second driving member and the other end being connected to the main body of the third driving member.
According to some embodiments of the invention, the leg arm comprises: a thigh joint; a lower leg joint; the fourth driving part is connected between the thigh joint and the first driving part and used for driving the thigh joint to rotate around a fourth central shaft, and the fourth central shaft is parallel to the width direction of the machine body; the fifth driving piece is connected between the thigh joint and the shank joint and used for driving the shank joint to rotate around a fifth central shaft, and the fifth central shaft and the fourth central shaft are arranged in parallel;
wherein the wheel structure can rotate at least 90 degrees around the third central axis, so that the rotating central axis of the roller of the wheel structure can be converted from a horizontal state to a vertical state.
According to some embodiments of the invention, the leg-arm structure is slidably provided to the body in a width direction of the body.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The invention is further described with reference to the following figures and examples, in which:
fig. 1 is a schematic view of the overall structure of a robot according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of a mechanical leg of the present invention after deployment; (ii) a
FIG. 3 is a schematic diagram of the exploded structure of FIG. 2;
FIG. 4 is a schematic structural view of a folded mechanical leg according to an embodiment of the present invention;
fig. 5 is a schematic structural view of a wheel structure according to an embodiment of the present invention.
Reference numerals:
a mechanical wheel leg 200,
A leg and arm structure 210, a base 211, a first driving member 212, a first connecting joint 213, a leg and arm 214, a fourth driving member 2141, a thigh joint 2142, a fifth driving member 2143, a shank joint 2144, a second driving member 215, a second connecting joint 216, a third driving member 217, a first driving member, a second driving member, a third driving member, a fourth driving member,
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality is one or more, the meaning of a plurality is two or more, and the above, below, exceeding, etc. are understood as excluding the present numbers, and the above, below, within, etc. are understood as including the present numbers. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
In the description of the present invention, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
According to the present invention, a wheel-legged robot is disclosed, referring to fig. 1 to 3, comprising a robot body 100 and two mechanical wheel-leg sets, wherein the robot body 100 sequentially comprises a tail portion 120 and a head portion 110 along the length direction thereof, and one mechanical wheel-leg set is mounted on the head portion 110 for supporting the head portion 110; another set of mechanical wheel legs is mounted to the tail 120 for support of the tail 120; moreover, each mechanical leg group comprises two mechanical wheel legs, and the two mechanical wheel legs 200 are arranged along the width direction of the body 100 in a separated manner and respectively support two sides of the body 100 in the width direction; the mechanical wheel leg 200 includes a leg arm structure 210 and a wheel structure 220, the wheel structure 220 is connected to the leg arm structure 210 and is used for bearing the leg arm 214, the leg arm structure 210 is movably connected to the body 100 and can adjust the wheel structure 220 toward the width direction of the body 100, and the rotation center axis of the roller 223 of the wheel structure 220 is perpendicular to the length direction of the body 100.
Specifically, when the robot is used, two mechanical wheel legs 200 support both sides of the head portion 110 of the body 100, two mechanical wheel legs 200 support both sides of the tail portion 120 of the body 100, and four mechanical wheel legs 200 cooperate to work, so that the robot can stably walk on the ground.
In addition, if a problem occurs in one mechanical wheel leg 200 of the tail 120 of the body 100, the user adjusts the other mechanical wheel leg 200 of the tail 120 of the body 100 toward the width direction of the body 100, that is, adjusts the leg arm structure 210 of the mechanical wheel leg 200, so that the wheel structure 220 moves toward the body 100, and further the wheel structure 220 can stably support the tail 120 of the body 100, and prevent the tail 120 of the body 100 from turning to one side of the width direction of the body 100, therefore, the three wheel structures 220 cooperate to bear the body 100, so that the robot can normally walk; similarly, if a problem occurs in one mechanical wheel leg 200 of the head 110 of the body 100, the other mechanical wheel leg 200 of the head 110 of the body 100 can be adjusted, so that the mechanical wheel leg 200 can stably support the head 110 of the body 100 and cooperate with the two mechanical wheel legs 200 of the tail 120 of the body 100, thereby enabling the robot to normally walk.
Of course, if one mechanical wheel leg 200 of the head portion 110 of the body 100 is damaged and one mechanical wheel leg 200 of the tail portion 120 of the body 100 is damaged, the one mechanical wheel leg 200 of the head portion 110 of the body 100 and the one mechanical wheel leg 200 of the tail portion 120 of the body 100 are adjusted, so that the two mechanical wheel legs 200 stably support the head portion 110 of the body 100 and the tail portion 120 of the body 100, respectively, and the robot can normally walk.
In addition, when the four mechanical wheel legs 200 are normally operated, the user can adjust the distance between the two wheel structures 220 of the tail portion 120 and the distance between the two wheel structures 220 of the head portion 110, thereby making the robot better adapt to the working environment. For example, the greater the distance between the wheel structures 220 on both sides of the body 100, the better the stability of the robot, and the smaller the distance between the wheel structures 220 on both sides of the body 100, the smaller the distance between the wheel structures 220, the smaller the mechanical cart can pass through the narrower road.
In the present embodiment, the direction in which the robot travels straight is defined as the longitudinal direction of the body 100, the direction in which the side of the robot faces is defined as the width direction of the body 100, and the longitudinal direction is perpendicular to the width direction.
In some embodiments, the leg arm structure 210 includes a first driving member 212, a leg arm 214 and a second driving member 215, the first driving member 212 is a motor, a housing of the motor is fixedly connected to the body 100, one end of the leg arm 214 is fixedly connected to a driving shaft of the motor, the motor drives the leg arm 214 to rotate around a first central axis, so that the movable end of the leg arm 214 moves towards the width direction of the body 100, and the first central axis is perpendicular to the rotating central axis of the roller 223 of the wheel structure 220; meanwhile, the second driving member 215 is a motor, a housing of the motor is fixedly connected to the movable end of the leg arm 214, that is, the end of the leg arm 214 away from the first driving member 212, the wheel structure 220 is connected to the driving end of the motor, the motor drives the wheel structure 220 to rotate around the second central axis, and the first central axis and the second central axis are arranged in parallel.
Specifically, when the position of the wheel structure 220 is adjusted, the first driving element 212 is activated, the first driving element 212 drives the leg arm 214 to move around the first central axis, and the projection of the leg arm 214 in the vertical direction towards the first central axis has a certain length, so that the swing arm rotates around the first central axis by a certain angle, the end of the leg arm 214 far from the first driving element 212 can move greatly in the width direction of the body 100, and the position of the wheel structure 220 is adjusted, so that the wheel structure 220 can support the head 110 or the tail 120 of the body 100 independently; further, upon activation of the second drive member 215, the second drive member 215 adjusts the position of the wheel structure 220 to a lesser degree, thereby further adjusting the position of the wheel structure 220 to support the head 110 or the tail 120 of the fuselage 100.
Moreover, during the adjustment of the wheel structure 220 by the first driving member 212, the rotation central axis of the roller 223 of the wheel structure 220 and the length direction of the body 100 are changed, so that the roller 223 of the wheel structure 220 cannot cooperate with the roller 223 of other wheel structures 220, and at this time, the second driving member 215 adjusts the rotation central axis of the roller 223 of the wheel structure 220, so that the wheel structure 220 can normally cooperate with other wheel structures 220.
Further, the first central axis is perpendicular to the length direction of the body 100 and the width direction of the body 100, if the body 100 is in a horizontal state, the first central axis is a vertical direction, and the projection of the leg arm 214 in the horizontal direction has a certain length, so that when the swing arm is driven by the first driving element 212 to rotate, the first central axis of the wheel structure 220 is a rotation central axis, and the rotation in the horizontal direction is performed, thereby realizing the movement of the wheel structure 220 toward the width direction of the body 100.
Furthermore, during the rotation of the leg arm 214 around the first central axis, the wheel structure 220 also moves towards the length direction of the body 100, thereby achieving the adjustment of the distance between the wheel structure 220 of the head portion 110 and the wheel structure 220 of the tail portion 120, and thus enabling the robot to better adapt to the environment.
In addition, during the rotation of the wheel structure 220 around the first central axis driven by the second driving member 215, the wheel surfaces of the rollers 223 of the wheel structure 220 face different directions, so that the wheel surfaces of the rollers 223 of the wheel structure 220 face a predetermined direction, and the wheel structure 220 travels in the predetermined direction.
Alternatively, the first central axis is parallel to the longitudinal direction of the body 100 (not shown in the figure), and if the body 100 is in a horizontal state, the first central axis is in a horizontal state, and the leg arm 214 vertically rotates around the first central axis, so that the adjustment of the wheel structure 220 toward the width direction of the body 100 is realized, so that one wheel structure 220 can independently support the head 110 or the tail 120 of the body 100.
Moreover, during the rotation of the leg arm 214 around the first central axis, the leg arm 214 can be gradually switched to the vertical state, so that during the rotation of the leg arm 214, the distance between the wheel structure 220 and the robot body 100 is increased, thereby adjusting the height of the robot; in addition, the wheel structure 220 may gradually change to a vertical state during the rotation of the wheel structure 220 around the first central axis, and thus, the wheel structure 220 may adjust the height of the robot during the rotation.
In some embodiments, the leg-arm structure 210 further comprises a base 211, the body 100 is detachably connected to the base 211, and the housing of the first driving member 212 is fixedly connected to the base 211, so as to detachably mount the leg-arm structure 210 on the body 100, and thus facilitate the detachable mounting of the leg-arm structure 210 on the body 100.
In order to enable the wheel structure 220 to be adjusted to a wide range in the width direction of the body 100, in some embodiments, the leg arm structure 210 further includes a first connecting joint 213, a length direction of the first connecting joint 213 is perpendicular to the first central axis, one end of the first connecting joint 213 is fixedly connected to the driving shaft of the first driving member 212, and the other end of the second connecting joint 216 is fixedly connected to the leg arm 214; it can be seen that by the arrangement of the first connecting joint 213, the distance of the wheel structure 220 from the second driving member 215 is relatively large, thereby enabling the wheel structure 220 to be adjusted to a relatively large extent.
In some embodiments, the leg arm 214 includes a thigh joint 2142, a shank joint 2144, a fourth driving member 2141 and a fifth driving member 2143, the fourth driving member 2141 is a motor, a housing of the motor is fixedly connected to an end of the first connecting joint 213 away from the first driving member 212, an end of the thigh joint 2142 is fixedly connected to a rotation shaft of the fourth driving member 2141, the fourth driving member 2141 drives the thigh joint 2142 to rotate around a fourth central axis, and the fourth central axis is parallel to a rotation central axis of the roller 223 of the wheel structure 220, i.e., a width direction of the body 100; the fifth driving element 2143 is a motor, a housing of the motor is fixedly connected to one end of the thigh joint 2142 away from the lower leg joint 2144, one end of the lower leg joint 2144 is fixedly connected to the rotation shaft of the fifth driving element 2143, the fifth driving element 2143 drives the lower leg joint 2144 to rotate around a fifth central axis, the fourth central axis and the fifth central axis are arranged in parallel, and the housing of the second driving element 215 is fixedly connected to one end of the lower leg joint 2144 away from the fourth driving element 2141.
Specifically, through the arrangement of the fourth driving part 2141, the fourth driving part drives the thigh joint 2142 to rotate around the fourth central axis, that is, to rotate vertically, so that the distance between the wheel structure 220 and the robot body 100 can be adjusted greatly, and the height of the robot can be adjusted; meanwhile, through the arrangement of the fifth driving member 2143, the fifth driving member 2143 drives the shank joint 2144 to rotate vertically, so that the distance between the wheel structure 220 and the robot body 100 can be adjusted in a small range, and the height of the robot can be adjusted. It can be seen that the distance between the wheel structure 220 and the main body 100, and thus the height of the robot, can be precisely adjusted by the cooperation of the fourth driving member 2141 and the fifth driving member 2143.
It should be noted that, referring to fig. 4, thigh joint 2142 and lower leg joint 2144 can be adjusted by fifth driving element 2143, so that thigh joint 2142 and lower leg joint 2144 are folded together, thereby facilitating storage of the robot.
Referring to fig. 1 to 3, in order to make the rollers 223 of the wheel structure 220 better adapt to the walking of the slope, in some embodiments, the leg arm structure 210 further includes a third driving member 217, the third driving member 217 is a motor, a housing of the motor is fixedly connected to a driving shaft of the second driving member 215, the wheel structure 220 is fixedly connected to the driving shaft of the motor, and the motor drives the wheel structure 220 to rotate around a third central shaft; the third central axis is disposed parallel to the longitudinal direction of the body 100 and perpendicular to the rotation central axis of the roller 223 of the wheel structure 220. Thus, when the roller 223 of the wheel structure 220 rolls on a slope, the third driving member 217 drives the wheel structure 220 to tilt up or down, so as to tilt the tread of the roller 223 of the wheel structure 220, thereby enabling the tread of the roller 223 of the wheel structure 220 to better adapt to the slope, so that the robot can walk on the slope.
Further, the leg-arm structure 210 further includes a second connecting joint 216, the second connecting joint 216 is L-shaped, one end of the second connecting joint 216 is fixedly connected with the driving shaft of the second driving member 215, and the other end of the second connecting joint 216 is fixedly connected with the housing of the third driving member 217; it can be seen that the second connecting joint 216 facilitates the connection of the second driving member 215 and the second driving member 215 together by the arrangement of the second connecting joint 216, so as to facilitate the multi-angle adjustment of the wheel structure 220.
Further, the wheel structure 220 can be rotated at least 90 degrees around the third central axis so that the rotation central axis of the roller 223 of the wheel structure 220 can be converted from the horizontal state to the vertical state; specifically, for some road types, when the robot cannot roll, such as stairs, the wheel structure 220 rotates downward by 90 degrees around the third central axis, the roller 223 of the wheel structure 220 is switched from the horizontal state to the vertical state, and the end of the roller 223 of the wheel structure 220 abuts against the ground; at this time, the fourth driving member 2141 drives the thigh joint 2142 to rotate vertically, the fifth driving member 2143 drives the shank joint 2144 to rotate vertically, the thigh joint 2142 and the shank joint 2144 work cooperatively, and the roller 223 of the wheel structure 220 is used as a foot joint to perform foot walking.
In some embodiments, referring to fig. 4 and 5, the wheel structure 220 includes a mounting seat 221, a sixth driving member 222, and a roller 223, the mounting seat 221 is fixedly connected to the driving shaft of the third driving member 217, and the third driving member 217 drives the mounting seat 221 to rotate around the third central shaft; meanwhile, the housing of the sixth driving member 222 is fixedly connected to the mounting seat 221, the roller 223 is fixedly connected to the driving shaft of the sixth driving member 222, and the sixth driving member 222 drives the roller 223 to rotate around the sixth central axis, i.e. the roller 223 is driven to rotate around the central axis.
In some embodiments, instead of the leg-arm structure 210 being rotatably disposed on the fuselage 100 (not shown in the figures), the leg-arm structure 210 is slidably disposed on the fuselage 100 along the width direction of the fuselage 100, so as to enable adjustment of the leg-arm structure 210 and thus adjustment of the wheel structure 220, and thus, the wheel structure 220 of the leg-arm structure 210 can separately support the head or tail of the fuselage 100.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention. Furthermore, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.
Claims (10)
1. Wheel-legged robot, its characterized in that includes:
the fuselage, include head and foot section connected sequentially along its length direction;
the two mechanical wheel leg groups are respectively connected to the head part and the tail part and used for supporting the machine body, and each mechanical wheel leg group comprises two mechanical wheel legs which are arranged along the width direction of the machine body in a separated mode;
the mechanical wheel leg comprises a leg arm structure and a wheel structure, wherein the wheel structure is connected to one end of the leg arm structure to be used for bearing the leg arm structure, and the other end of the leg arm structure is movably connected to the machine body to be capable of facing the width direction of the machine body to adjust the position of the wheel structure.
2. The wheel-legged robot according to claim 1, wherein the leg-arm structure includes a first driving member, a leg arm and a second driving member, the first driving member is connected between the leg arm and the body for driving the leg arm to rotate around a first central axis so as to move the end of the leg arm near the wheel structure toward the width direction of the body; the second driving piece is connected with the movable end of the leg arm and between the wheel structures and used for driving the wheel structures to rotate around a second central shaft, the first central shaft is parallel to the second central shaft, and the length direction of the machine body is perpendicular to the rotating central shaft of the roller of the wheel structures.
3. The wheel-legged robot according to claim 2, wherein the first center axis is provided perpendicular to a longitudinal direction of the body and a width direction of the body; or, the first central shaft and the length direction of the machine body are arranged in parallel.
4. The wheel-legged robot according to claim 2, wherein the leg arm structure further includes a first connecting joint, one end of the first connecting joint in a length direction is connected to the driving end of the first driving member, and the other end of the first connecting joint is connected to the leg arm, and the length direction of the first connecting joint is perpendicular to the first central axis.
5. A wheel-legged robot according to any of claims 1-3, characterized in that the leg arm comprises:
a thigh joint, the wheel structure being connected to one end of the thigh joint;
and the fourth driving part is connected between the other end of the thigh joint and the first driving part and used for driving the thigh joint to rotate around a fourth central shaft so as to adjust the distance between the wheel structure and the machine body, and the fourth central shaft is parallel to the width direction of the machine body.
6. The wheel-legged robot according to claim 5, wherein the leg arm further includes:
the wheel structure is connected to one end of the shank joint;
and the fifth driving piece is connected between the thigh joint and the other end of the shank joint and used for driving the shank joint to rotate around a fifth central shaft, and the fifth central shaft and the fourth central shaft are arranged in parallel.
7. The wheel-legged robot according to claim 2, wherein the leg arm structure further includes a third driving member connected between the second driving member and the wheel structure for driving the wheel structure to rotate around a third central axis, and the third central axis is parallel to the length direction of the body.
8. The wheel-legged robot according to claim 7, wherein the leg arm structure further includes a second connecting joint having one end connected to the second driving member and the other end connected to the main body of the third driving member.
9. The wheel-legged robot according to claim 7, wherein the leg arm includes:
a thigh joint;
a lower leg joint;
the fourth driving part is connected between the thigh joint and the first driving part and used for driving the thigh joint to rotate around a fourth central shaft, and the fourth central shaft is parallel to the width direction of the machine body;
the fifth driving piece is connected between the thigh joint and the shank joint and used for driving the shank joint to rotate around a fifth central shaft, and the fifth central shaft and the fourth central shaft are arranged in parallel;
wherein the wheel structure can rotate at least 90 degrees around the third central axis, so that the rotating central axis of the roller of the wheel structure can be converted from a horizontal state to a vertical state.
10. The wheel-legged robot according to claim 1, wherein the leg-arm structure is provided to the body so as to slide in a width direction of the body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110128360.XA CN112706852A (en) | 2021-01-29 | 2021-01-29 | Wheel-leg type robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110128360.XA CN112706852A (en) | 2021-01-29 | 2021-01-29 | Wheel-leg type robot |
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| CN112706852A true CN112706852A (en) | 2021-04-27 |
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| CN202110128360.XA Pending CN112706852A (en) | 2021-01-29 | 2021-01-29 | Wheel-leg type robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20220242506A1 (en) * | 2021-02-03 | 2022-08-04 | Hyundai Motor Company | Movable Object |
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- 2021-01-29 CN CN202110128360.XA patent/CN112706852A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20220242506A1 (en) * | 2021-02-03 | 2022-08-04 | Hyundai Motor Company | Movable Object |
| US11858567B2 (en) * | 2021-02-03 | 2024-01-02 | Hyundai Motor Company | Movable object |
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