轮腿机器人的同心安装机构
By integrating the leg unit onto the wheel unit, the problems of large space occupation and high cost of wheel-leg robots are solved, and the efficiency and stability of wheel-leg transformation are achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHANGHAI UNIV OF ENG SCI
- Filing Date
- 2025-09-29
- Publication Date
- 2026-07-17
AI Technical Summary
Existing wheeled and legged robots require separate installation of wheel systems and bionic limbs on the main support frame, resulting in large space occupation and high costs.
By integrating leg units onto the wheel unit, concentric installation of the wheel and leg is achieved, reducing the space occupied by the main support and lowering costs.
It enables wheeled-legged robots to efficiently transform on the same structure, saving space and reducing costs, while achieving stable movement in complex terrain.
Smart Images
Figure CN224511289U_ABST
Abstract
Claims
1. A concentric mounting mechanism of a wheel-legged robot, characterized by, include, The wheel unit has a circular drive wheel with a hollow center. The leg-type support unit fixing ring is movably mounted on the drive wheel via a hollow structure and is concentric with the drive wheel; A leg-type support unit is fixedly installed on the leg-type support unit fixing ring; The leg support unit includes a housing, which is fixedly installed on the inner ring of the leg support unit fixing ring, and a robotic arm is installed on the upper surface of the housing.
2. The concentric mounting mechanism for the wheeled-legged robot according to claim 1, characterized in that: The robotic arms are two in number on the housing and extend along both ends of the drive wheel.
3. The concentric mounting mechanism for the wheeled-legged robot according to claim 2, characterized in that: The direction from the center of the drive wheel to its circumference is taken as the inner diameter direction. The drive wheel has a drive wheel chamber inside, and the drive wheel chamber extends in the opposite direction along its inner diameter until it opens inward and connects with the hollow structure.
4. The concentric mounting mechanism for the wheeled-legged robot according to claim 2, characterized in that: The leg-type support unit fixing ring is movably mounted on the drive wheel via a hollow structure and drive wheel chamber through a drive mechanism, and is concentric with the drive wheel. The drive mechanism includes an internal gear ring, the smooth surface of which is fixedly mounted in the drive wheel chamber and concentric with the drive wheel; a gear, which is mounted on the housing via a drive component and coupled to the internal gear ring gear; the drive component is a motor; a fixing plate is fixedly connected to the outer ring of the leg-type support unit fixing ring; the fixed end of the motor is mounted on the fixing plate via a mounting bracket; and the gear is sleeved on the free end of the motor.
5. The concentric mounting mechanism for the wheel-legged robot according to claim 2, characterized in that: The opening of the drive wheel chamber is a tapered structure, which draws the edge of the housing into the drive wheel chamber.
6. The concentric mounting mechanism of the wheeled-legged robot according to claim 4, characterized in that: An attitude control module is fixedly connected to the fixed plate, which is used to switch between the wheel unit and the robotic arm, facilitating the switching between the wheel unit's rolling mode and the robotic arm's walking mode. Both the attitude control module and the motor are located inside the drive wheel chamber. The attitude control module has a gyroscope, a sensor used to measure or maintain the attitude of the device, which can detect changes in angular velocity; and an accelerometer, a device used to measure the acceleration of the device, assisting the attitude control module in determining the robot's motion state.