Wheel-legged rotatable quadruped robot driven by track wheels

Abstract

The invention provides a leg type rotatable quadruped robot with crawler wheels and driving wheels. The leg type rotatable quadruped robot with the crawler wheels and the driving wheels comprises a rack, wherein traveling mechanisms are symmetrically arranged in front of the rack and at the back of the rack respectively, the four traveling mechanisms are the same in structure, each traveling mechanism comprises a leg rotating mechanism, a foot rotating mechanism and a foot driving mechanism, each leg rotating mechanism comprises a leg rotating motor and a leg frame, each foot rotating mechanism comprises a rotating motor, a foot rotating frame, a foot steering motor and a foot connecting frame, and each driving foot mechanism comprises a foot body, a first foot caterpillar band, a second foot caterpillar band, a first foot crawler wheel, a second crawler wheel, a third crawler wheel, a fourth crawler wheel, a foot driving motor and a foot gearbox. The leg type rotatable quadruped robot with the crawler wheels and the driving wheels is simple in structure, posture control is easy, the posture, the forward speed and the direction of the robot can be controlled through control over the rotating speed and the rotating direction of the motors, various motion postures of the robot can be achieved, and the leg type rotatable quadruped robot with the crawler wheels and the driving wheels is applicable to the fields such as the entertainment field, the transport field, the fire control field, the detection field, the disaster relief field and the space exploration field.

Description

technical field [0001] The invention relates to a quadruped robot, in particular to a rotatable quadruped robot driven by crawler wheels. Background technique [0002] At present, a lot of research has been done on quadruped robots at home and abroad, and many quadruped robots with different structures and functions have been designed. However, most of the existing quadruped robots are walking quadruped robots, which mainly rely on walking posture to move. In addition to the difficulty in ensuring the balance of the fuselage, the working space of the mechanism itself is also limited. It is difficult to complete high-speed walking and obstacle-crossing operations, and the action posture is relatively simple. In some special environments and occasions, the Limit the application of quadruped robots. Contents of the invention [0003] The object of the present invention is to provide a crawler wheel-driven wheel-legged rotatable quadruped robot which has a fast moving speed a...

AI Technical Summary

Problems solved by technology

[0002] At present, a lot of research has been done on quadruped robots at home and abroad, and many quadruped robots with different structures and functions have been designed. However, most of the existing quadruped robots are walking quadruped robots, which mainly rely on walking posture to move. In addition to the difficulty in ensuring the balance of the fuselage, the working space of the mechanism itself is also limited. It is difficult to complete high-speed walking and obstacle-crossing operations, and the action posture is relatively simple. In some special environments and occasions, the Limits the application of quadruped robots

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