WHEEL-LEG ROBOT WITH FLEXIBLE SHAFT

摘要

The present invention relates to a wheel-leg robot using a flexible shaft, which comprises: a driving force generating unit (400) which generates driving force; a first module (100) including a first fame (110), a first shaft (130) which is placed in the first frame (110) in order to rotate and rotates by receiving the driving force of the driving force generating unit (400) through a driving force transmitting unit, and a first wheel-leg (150) which is placed in the first frame (110) in order to rotate and rotates by receiving rotational force through a first rotational force transmitting unit according to the rotation of the first shaft (130); a second module (200) including a second frame (210), a second shaft (230) which is placed in the second frame (210) in order to rotate, and a second wheel-leg (250) which is placed in the second frame (210) in order to rotate and rotates by receiving rotational force through a second rotational force transmitting unit according to the rotation of the second shaft (230); and an elastic flexible shaft (300) which connects the first shaft (130) and the second shaft (230) in order to transmit the rotational force of the first shaft (130) to the second shaft (230), and buffers the relative rotating motion between the first shaft (130) and the second shaft (230). Therefore, the wheel-leg robot using a flexible shaft can transmit power between the first module and the second module with changing angles and distances, and can drive on various landforms by effectively adjusting the difference of driving force between a wheel and a leg respectively.