The invention discloses a wheel-legged advancing-type robot. The wheel-legged advancing-type robot comprises a robot body, a plurality of wheeled legs arranged on the robot body and a driving motor for driving the wheeled legs to rotate, each wheeled leg comprises a deforming leg body of a chain structure and a deforming mechanism for driving the correspondingdeforming leg body to deform, and eachdeforming leg comprises a plurality of deforming joints sequentially hinged. Each deforming joint is provided with an arc-shaped sliding groove longitudinally formed along the corresponding deformingleg, each deforming mechanism comprises a sliding block chain formed by sequentially hinging multiple arc-shaped sliding blocks and an air cylinder for driving thecorresponding sliding block chain toslide in the arc-shaped sliding groove of the corresponding deforming leg in a reciprocating mode, and torsion springs for enabling the deforming legs to keep in linear shapes are arranged between every two adjacent deforming joints. The robot can be switched between the arc-shaped wheeled legs and straight-plate-type legs only through an advancing mechanism.

Wheel-legged advancing-type robot

The invention discloses a multi-motion-mode travelling device. The multi-motion-mode travelling device comprises a rack and at least two pairs of walking mechanisms, wherein each walking mechanism comprises a first motor mounted on the rack, a steering mechanism, a first motor base and a second motor base, the outer side of the first motor base is fixedly connected with a second motor with a firsttravelling leg, the second motor base is mounted at the other side of the steering mechanism, and the outer side of the second motor base is fixedly connected with a third motor with a second travelling leg. The multi-motion-mode travelling device disclosed by the invention uses a deformation mechanism to improve terrain applicability of the travelling device; the first motors are arranged, so that an advanced motion mode can be selected to enter while the device is positioned on a flat road surface, and therefore, travelling speed is increased; and the second motors are arranged, so that a common mode can be selected to enter while the device is positioned on an uneven road surface, and therefore, moving stability of the device is improved by reducing moving speed.

Multi-motion-mode travelling device

The invention discloses a wheel web type integrated travelling mechanism. The wheel web type integrated travelling mechanism comprises a deformation leg of a chain structure and a deformation mechanism used for driving the deformation leg; the deformation leg comprises a plurality of deformation joints hinged sequentially, and the deformation joints are provided with arc sliding grooves formed inthe longitudinal direction of the deformation leg; and the deformation mechanism comprises a sliding chain and a deformation driving mechanism, wherein the sliding chain is formed by hinging a plurality of arc sliding blocks sequentially, and the deformation driving mechanism is used for driving the reciprocating sliding of the sliding chain in the arc sliding grooves of the deformation leg. According to the wheel web type integrated travelling mechanism, the arc sliding blocks and the arc sliding grooves can be concentric completely, the smooth, accurate and quick deformation of a robot is ensured, resistance borne by the robot in the deformation process is reduced, and the phenomenon of unfinished deformation is avoided.

Wheel web type integrated travelling mechanism

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Wheel web type integrated travelling mechanism