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Electric-drive heavy-load wheel-foot composite mobile robot

A mobile robot and composite technology, applied in motor vehicles, transportation and packaging, etc., can solve the problems of poor passing ability of wheeled robots, lack of heavy load capacity, slow moving speed of legged robots, etc., and achieve high-speed passing ability , Ingenious structural design, easy to implement effect

Active Publication Date: 2013-04-03
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problems of slow moving speed of legged robots, poor discontinuous terrain passing ability of wheeled robots and neither of them having heavy load capacity, the present invention further provides an electrically driven heavy-duty wheel-foot composite mobile robot

Method used

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  • Electric-drive heavy-load wheel-foot composite mobile robot
  • Electric-drive heavy-load wheel-foot composite mobile robot
  • Electric-drive heavy-load wheel-foot composite mobile robot

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specific Embodiment approach 1

[0009] Specific implementation mode one: combine Figure 1 to Figure 6 Explain that an electric drive heavy-duty wheel-foot composite mobile robot in this embodiment includes a leg system 1 and a wheel system 2, and the leg system 1 includes a carrying platform 1-1 and six support legs 1-2, the main leg The control system 1-3 and the leg storage power source 1-4, the bearing platform 1-1 is a regular hexagonal prism platform, the lower end of the bearing platform 1-1 is evenly provided with a plurality of connecting parts 1-1-1, and six supporting legs 1 -2 is correspondingly fixed on the six sides of the bearing platform 1-1. The leg main control system 1-3 and the leg storage power source 1-4 of the leg system 1 are installed in the bearing platform 1-1. The control system 1-3 and the leg storage power source 1-4 are connected by wires, and the leg main control system 1-3 is connected with six support legs 1-2 by wires, and each support leg 1-2 includes a root joint 1-2- 1....

specific Embodiment approach 2

[0010] Specific implementation mode two: combination figure 1 , figure 2 with Figure 5 Note that the outer diameter of the driven wheel 2-2 in this embodiment is smaller than the outer diameter of the driving wheel 2-3. Other components and connections are the same as those in the first embodiment.

specific Embodiment approach 3

[0011] Specific implementation mode three: combination Figure 4 Note that the number of connecting pieces 1-1-1 in this embodiment is three. Other compositions and connections are the same as those in Embodiment 1 or Embodiment 2.

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Abstract

The invention discloses an electric-drive heavy-load wheel-foot composite mobile robot, and relates to a wheel-foot composite mobile robot, which is used for solving the problems that a foot type robot has a low walking speed, a wheel type robot has poor discontinuous terrain passing capacity, and both the foot type robot and the wheel type robot are not provided with heavy-load capacity. A plurality of connecting pieces are uniformly arranged at the periphery of the lower end of a bearing platform; six supporting legs are fixedly connected on six side surfaces of the bearing platform correspondingly; a leg main control system and a leg power accumulator of a leg system are arranged in the bearing platform; a driven wheel and two drive wheels are fixedly connected at the bottom of a car body; a wheel part main control system and a wheel part power accumulator are connected by a guide wire; a transmission assembly is arranged at the bottom of the car body; the wheel part main control system is connected with the transmission assembly by a control guide wire; the transmission assembly is connected with the drive wheels in a transmission manner; and the leg system is integrally connected with the wheel part system in a detachable manner through the matching of the connecting pieces and connecting holes. The electric-drive heavy-load wheel-foot composite mobile robot is used in the work needing quick walking in the discontinuous terrain.

Description

technical field [0001] The invention relates to a wheel-foot compound mobile robot. Background technique [0002] With the development of robot technology, robots with heavy-duty characteristics, high terrain passability and the ability to work with humans have increasingly become one of the important trends in robot development. Some developed countries such as the United States and Japan have achieved certain research results in the research of heavy-duty mobile robots, while my country's research in this area is still in its infancy. The footed robot has a high ability to pass through discontinuous terrain, but the traveling speed is generally slightly lower; the wheeled robot has a high traveling speed, but its terrain passing ability is slightly poor, and the wheel-foot composite mobile robot can effectively integrate and make up for the foot traffic. Advantages and disadvantages of wheeled robots and wheeled robots. At present, in the research of wheel-foot composite...

Claims

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Application Information

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IPC IPC(8): B62D57/032
Inventor 高海波邓宗全庄红超丁亮李楠刘振
Owner HARBIN INST OF TECH
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