Dual-purpose mobile robot of wheel and foot

Abstract

The invention belongs to a wheels and feet dual-purpose mobile robot in a robot technical field. The invention adopts a movement mode of combined wheels and feet; two long sides of a bodywork are respectively provided with four legs of the same structure with the duel-purpose of wheels and feet; the inside of the bodywork is provided with two batteries which provide energy for an on-board computer, an interior camera and an extended plug-in. Each leg comprises a thigh and a lower leg, with a power input unit of two levels; and the wheel mode and the foot mode are switched through a clutch. A first motor is fixed on a bottom plate of the bodywork through an insulation seat; a first shaft is fixed on a side of the bodywork by a seat, and the interior camera is equipped inside the bodywork as eyes of the robot; the on-board computer is taken as a planning and controlling center of movement of the entire robot; a plurality pony wheels are taken as driven wheels of which the driven movement or rotating termination is controlled by an electromagnetic contracting brake. By carrying out modularization design, the invention guarantees the rapid and flexible movement of the robot, multiple movement manners, strong ground adaptability and changes of movement gesture aimed at special landforms, which is favorable to reduce energy consumption.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a dual-purpose mobile robot with wheels and feet. Background technique [0002] There are usually two ways for robots to move: wheeled and articulated. The wheeled structure has the characteristics of fast moving speed, good steering, and convenient driving control; however, it has a small landing area, poor wall adaptability, poor obstacle avoidance ability, and poor mobility in unstructured environments. The articulated structure generally adopts the form of multi-joint connecting rods connected in series. It has low requirements on the road surface and can cross obstacles and walk through special roads such as sandy land and swamps; however, it has disadvantages such as large movement intervals, slow speed, and difficult drive control. Usually, a mobile robot has only one movement mode. Therefore, there is an urgent need for a robot structure with compact structur...

AI Technical Summary

Problems solved by technology

Existing wheel-foot dual-purpose robots are usually composed of a tracked vehicle plus one or two sets of single-joint tracked legs, which have slow moving speed, inflexible steering and limited ability to overcome obstacles.

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