Self-adapting deformable travelling device for robot and robot

Abstract

The invention discloses a self-adapting deformable travelling device for a robot and the robot. The self-adapting deformable travelling device comprises three travelling claws, wherein each travelling claw comprises a claw-shaped tip structure for grasping the ground, the periphery of each claw-shaped tip structure is arc-shaped, and the peripheries of the three travelling claws are in end-to-end connection to form a complete wheel; each travelling claw is connected with a transmission plate mechanism through pin-connected outer positioning shafts, and the transmission plate mechanism is connected with a power output shaft; the deformable travelling device further comprises a shape shifting mechanism which enables the travelling claws to rotate around the respective outer positioning shafts to extend out of the respective tip structures to be positioned. The three travelling claws are retracted to form a wheel-shaped structure, so that smooth high-speed movement on the flat ground is realized; in addition, the outer positioning shafts are arranged on the side surfaces of the travelling claws, so that the travelling claws can rotate around the outer positioning shafts to extend out of the respective tip structures so as to form a stable three-claw structure which is suitable for performing barrier crossing movement, and the technical problems that the barrier crossing capacity, the carrying capacity and the cost of the travelling device of the robot are difficult to concurrently consider are solved. The invention further provides the robot comprising the deformable travelling device.

Description

technical field [0001] The invention relates to the technical field of robots, and more specifically relates to an adaptive deformable walking device for a robot, and also relates to a robot. Background technique [0002] With the continuous development of science and technology, robot technology has gradually attracted people's attention. The emergence of new needs such as using robots instead of manpower to transport materials and field terrain surveys has prompted the rapid development of robot technology. The advancement of robot technology also puts forward higher requirements for the adaptability of robots to different terrains, so the adaptive ability of the mechanism has become the focus of attention. [0003] Obstacle surmounting and self-adaptive capabilities are the key manifestations of the performance of the walking device. The current walking devices are divided into wheel-type, leg-type, crawler-type and compound-type mechanisms. The wheel-type walking device...

AI Technical Summary

Problems solved by technology

[0005] In view of this, the first object of the present invention is to provide a kind of self-adaptive deformable walking device for the robot, the structural design of the deformable walking device can effectively solve the existing robot walking device's ability to overcome obstacles, carrying capacity and It is difficult to take into account the technical problems such as cost, the second object of the present invention is to provide a kind of robot that comprises above-mentioned deformable walking device

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