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Robot with wheel legs

A wheel-legged robot and thigh technology, applied in the field of robotics, can solve the problem of wheel-legged robots prone to slipping and other problems

Inactive Publication Date: 2011-09-14
HENAN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a wheel-legged robot to solve the problem that the wheel-legged robot is prone to slipping when switching to legged work

Method used

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  • Robot with wheel legs
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  • Robot with wheel legs

Examples

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Embodiment Construction

[0018] like Figure 1-6 As shown, a wheel-legged robot of the present invention includes a frame, and the frame includes a back plate 7 on the upper floor and an abdominal plate 4 on the lower floor, the back plate 7 is fixedly connected to the abdominal plate 4 through a connecting rod, and the Four legs with the same structure and dual-purpose functions of wheels and feet are provided, and each leg includes a thigh 12 which is rotatably arranged on the back plate 7 and a shank 8 which rotates radially around the thigh 12 . The thigh 12 is connected with a thigh driving device for driving the thigh 12 to rotate in the horizontal direction. The thigh driving device includes a thigh steering gear 6 fixed on the back plate 7 . The output shaft of the thigh steering gear 6 is fixedly connected to the thigh 12 . The shank 8 is connected with a shank driving device for driving the shank 8 to swing back and forth. The shank driving device includes a shank steering gear 5 fixed on th...

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Abstract

The invention discloses a robot with wheel legs, which comprises a frame. The frame is provided with four legs which have the same structures and have wheel and foot dual-purpose functions; each leg comprises a thigh and a shank rotating around the radial direction of the thigh; the tail ends of the shanks are provided with wheels; the shanks are connected with shank driving devices for driving the shanks to swing forwards and backwards; direct-current motors for driving the wheels to rotate are fixed on the wheels; the direct-current motors are connected with wheel driving devices for driving the direct-current motors to rotate around rotating shafts by the rotating shafts fixed and extending along the radial directions of the shanks; and further, driving shafts of the motors are always perpendicular to the rotating shafts. The robot drives the thighs to swing up and down by means of thigh steering engines and drives the shanks to swing forwards and backwards by means of shank steering engines so as to achieve the leg-type walking of the robot together; even being on a smooth road surface, the robot with the wheel legs cannot slip; and furthermore, the robot is simple and convenient to operate, and has stable movement actions.

Description

technical field [0001] The invention relates to a dual-purpose robot with wheels and legs, belonging to the technical field of robots. Background technique [0002] The advantages of legged robots are that they can walk not only on flat ground but also on rough ground, can cross ravines, go up and down steps, and can do complete and one-way motion without slipping, and provide stable dynamics for the sensors on them. platform, so it has a wide range of applicability, but it has disadvantages, that is, it is difficult to realize its stable gait planning and stable balance control, and the efficiency of motion speed and energy utilization is low. In addition, legged robots are generally heavy and have complex structures. . The advantage of the wheeled robot is that it is easy to operate automatically and stable in action. It is especially suitable for moving on a flat ground. It has greater movement speed and energy utilization efficiency. It is a type of robot widely used at...

Claims

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Application Information

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IPC IPC(8): B62D57/032
Inventor 张伏付三玲毛鹏军邱兆美王俊徐锐良张国英张青建胡兵闫静辉陈真淮
Owner HENAN UNIV OF SCI & TECH
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