Wheel and leg composite carrying robot

A robot, wheel-legged technology, applied in the fields of material transportation, military reconnaissance, and planetary exploration, can solve the problems of unstable foot-end motion trajectory of walking robots and poor coordination of wheel-leg motion, so as to optimize the leg motion trajectory, reduce internal friction, simple structure

Active Publication Date: 2014-05-28
BEIJING JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention: the movement trajectory of the foot end of the walking robot is not stable, and the coordination of the wheel-leg movement is poor

Method used

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  • Wheel and leg composite carrying robot
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  • Wheel and leg composite carrying robot

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Embodiment Construction

[0020] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0021] A wheel-leg composite carrier robot, such as figure 1 Shown, includes left leg (A), right leg (B) and trailer (C).

[0022] The left leg (A) is a single-degree-of-freedom link mechanism, such as figure 2 As shown, the two motor mounting holes of the left frame (A5) of the left leg (A) close to the chute are fixed with the double-shaft motor (1) through screws; the output shaft of the double-shaft motor (1) passes through The left frame (A5) is fixedly connected with the left first connecting rod (A1) through jacking screws.

[0023] The right leg (B) is a single-degree-of-freedom link mechanism, such as figure 2 As shown, the two motor mounting holes of the right frame (B5) of the right leg (B) close to the chute are fixed with the double-shaft motor (1) through screws; the other output shaft of the double-shaft motor (1) Pass through the right f...

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Abstract

A wheel and leg composite carrying robot comprises a left side leg (A), a right side leg (B) and a trailer (C), wherein a clamping groove of a left first connecting rod (A1) of the left side leg (A) is matched and fixed with one output shaft of a double-output shaft motor (1), a clamping groove of a right first connecting rod (B1) of the right side leg (B) is matched and fixed with the other output shaft of the double-output shaft motor (1), a left rack (A5) of the left side leg (A) is fixedly connected with a right rack (B5) of the right side leg (B) through a connecting shaft (2), a left clamping sleeve (C1a) and a right clamping sleeve (C1b) of a connecting frame (C1) of the trailer (C) is respectively and fixedly connected with a left clamping ring (A8) and a right clamping ring (B8), and the double-output shaft motor (1) drives for the complete cycle for realizing motion of the robot. The wheel and leg composite carrying robot is simple in leg structure and is easy to process and assemble; a sliding pair is adopted at the joint, so that the foot end track is optimized, synergic movement of wheels and legs is realized, and the internal friction is reduced. The robot can be used in the fields of planet detection, cargo transportation, military reconnaissance and the like.

Description

technical field [0001] The invention relates to a wheel-leg composite carrying robot, in particular to a bionic walking robot, which realizes the coordinated movement of wheels and legs and eliminates internal friction through the optimization of the trajectory of the foot end of the robot by a sliding pair. The invention can be used in the fields of planetary detection, material transportation, military reconnaissance and the like. Background technique [0002] Compared with other mobile robots, the wheel-leg composite robot has the characteristics of flexible movement and strong environmental adaptability, and has broad application prospects. Generally, the wheel-leg compound robot uses a rotating joint, and the track of the foot end is not stable, resulting in inconsistent movement of the wheel and leg, resulting in large internal friction. The two-motor-driven wheel-leg compound robot uses a sliding joint joint, and the crank is driven by a dual-output shaft motor. Rota...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/028
Inventor 姚燕安武建昫刘然
Owner BEIJING JIAOTONG UNIV
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