Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Multifunctional leg-wheel-combined mobile robot

A mobile robot and multi-functional technology, applied in the field of mobile robots, can solve problems such as complex leg structure design, poor dynamic stability, and complex wheel-leg switching, so as to improve motion efficiency and stability, high wheel efficiency, and improve motion The effect of stability

Active Publication Date: 2014-08-27
BEIHANG UNIV
View PDF5 Cites 29 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] In order to solve the problems of complex leg structure design, heavy leg weight and motion inertia, poor dynamic stability, complex wheel leg switching, hub deformation and wheel outer edge wear in hybrid mobile robots, the present invention designs a new multi- Composite Mobile Robot with Functional Legs and Wheels

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Multifunctional leg-wheel-combined mobile robot
  • Multifunctional leg-wheel-combined mobile robot
  • Multifunctional leg-wheel-combined mobile robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0033] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0034] see figure 1 , Figure 1A , Figure 1B , Figure 1C , Figure 1D Shown, a kind of multifunctional leg-wheel composite mobile robot of the present invention, this leg-wheel composite mobile robot includes six leg assemblies and a torso assembly 7 with the same structure; Said six leg assemblies refer to the first leg assembly 1, A second leg assembly 2 , a third leg assembly 3 , a fourth leg assembly 4 , a fifth leg assembly 5 and a sixth leg assembly 6 . Each leg has three conventional joints, namely the waist joint, hip joint and knee joint, and the parts on the leg are as follows figure 1 , Figure 3A The axis of the waist joint, the axis of the hip joint and the axis of the knee joint shown are also the axis of the steering gear of the three steering gears.

[0035] Torso Component 7

[0036] see figure 1 , Figure 1A , F...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a multifunctional leg-wheel-combined mobile robot which comprises six leg assemblies of the same structure and a body assembly. Each leg assembly comprises a waist joint, a hip joint and a knee joint, installation of steering engines is achieved through the joints by using steering engine fixing frames, and rotary connection of thighs and shanks is completed. A three-wheel wheeling mode is adopted, the structure is arranged at the bottom of the body assembly, and a walking structure of the robot is formed by six walking legs evenly distributed on the periphery of a body, wherein the six walking legs are of the same structure. The robot can achieve leg-type movement of the six legs and wheel-type movement of three wheels independently and can further achieve the movement mode that the wheels and the legs help one another; the situations that the wheels slide down a slope and the legs pull the wheels to climb the slope can be achieved; meanwhile multi-leg operations such as a clamping operation and a carrying operation can be achieved.

Description

technical field [0001] The present invention relates to a mobile robot, more particularly, to a multifunctional leg-wheel compound mobile robot. Background technique [0002] The movement modes adopted by mobile robots mainly include wheeled, tracked, footed and hybrid forms of movement. For wheeled robots, since the wheel came out, it has been very reliable in moving on hard flat ground. However, when driving on uneven ground, the energy consumption of the wheeled robot will increase greatly, and on soft ground or severely uneven terrain, the role of the wheels will also be seriously lost, and the moving efficiency will be greatly reduced. The crawler robot distributes the load of the body on a larger area, which is equivalent to a device for paving the road for the wheels, and can generate greater propulsion, and can walk on soft ground without getting stuck in it, but the crawler robot The maneuverability of the robot on uneven ground is still poor, and the robot body s...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): B62D57/028
Inventor 丁希仑彭赛金杨帆
Owner BEIHANG UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com