Dual-purpose robot leg with wheel and foot

A robot and dual-purpose technology, applied in the field of robots, can solve problems such as complex lines, and achieve the effect of saving drive modules, compact structure, ensuring moving speed and terrain adaptability

Inactive Publication Date: 2008-07-23
TSINGHUA UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In addition, the robot generally only has one battery box. Not only is the wiring complicated, but the robot cannot return to the voyage smoothly due to battery damage or other work due to excessive power consumption when the robo

Method used

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  • Dual-purpose robot leg with wheel and foot
  • Dual-purpose robot leg with wheel and foot
  • Dual-purpose robot leg with wheel and foot

Examples

Experimental program
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Effect test

Embodiment Construction

[0022] Further illustrate the present invention below in conjunction with accompanying drawing.

[0023] The wheel-foot robot leg module adopts two power input units, and the wheel-foot mode is switched through the clutch. The first large hub 15 and the second large hub 24 can complete active or passive rotation around the first axis 14 and the third axis 21 respectively. , the long connecting rod 1 can swing back and forth around the second axis 19 , the short connecting rod 13 can complete the rotational movement around the fourth axis 28 , and the small hub 25 can complete the passive rotational movement around the fifth axis 31 . The movement of the wheels and legs is planned and controlled by a unified controller, and an independent power supply is adopted.

[0024] As shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, and Fig. 6, the wheel-footed robot leg module includes a first large wheel 15, a second large wheel 24, a long connecting rod 1, a short connecting rod 13, ...

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Abstract

The invention belongs to the technical field of robots and more particularly relates to a robot leg which uses both a wheel and a foot. A first clutch of the robot leg is connected with a first shaft and a second shaft, a first bearing inner race is connected with the first shaft, a first bearing outer race is connected with a first large wheel hub, a second bearing inner race and a third bearing inner race are connected with the second shaft, a second bearing outer race and a third bearing outer race are connected with a long connecting rod, and simultaneously a first driven sheet of the first clutch is connected with the first large wheel hub and a second driven sheet of the first clutch is connected with the long connecting rod. A second clutch is connected with a third shaft and a fourth shaft, a sixth bearing inner race is connected with the third shaft, a sixth bearing outer race is connected with a second large wheel hub, a seventh bearing inner race is connected with the fourth shaft, a seventh bearing outer race is connected with a short connecting rod, and simultaneously a first driven sheet of the second clutch is connected with the second large wheel hub and a second driven sheet of the second clutch is connected with the short connecting rod. The robot leg has compact structure, flexible movement, strong ground adaptability and quick movement speed, and is favorable for reducing energy consumption due to changing movement postures according to special landforms.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to a dual-purpose robot leg with wheels and feet. Background technique [0002] Robot legs usually have two structural modes: wheeled and jointed. Wheeled legs have the characteristics of fast moving speed, good steering, and convenient driving control; however, they have small ground area, poor wall adaptability, poor obstacle avoidance ability, and poor mobility in unstructured environments. The articulated legs generally adopt the form of two 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, there are disadvantages such as large movement intervals, slow speed, and difficult drive control. Therefore, there is an urgent need for a robot leg with compact structure, strong terrain adaptability, fast moving speed and simple control. In addition, the robot gene...

Claims

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Application Information

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IPC IPC(8): B62D57/028B60K17/32
Inventor 吴丹赵旦谱杨宏源郭丽峰宾洋刘宗政陈恳
Owner TSINGHUA UNIV
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