Robot walking leg mechanism with integration of wheel type, foot type and wheel-foot composite type

A composite and robotic technology, applied in the fields of motor vehicles, transportation and packaging, etc., can solve the problems that cannot be applied to legged robots and ground vehicles, etc., to improve the stability of the body, reduce the difficulty of control, and increase the wheel-ground contact area Effect
CN104015833AActive Publication Date: 2014-09-03HARBIN INST OF TECH
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
HARBIN INST OF TECH
Publication Date
2014-09-03

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Abstract

The invention discloses a robot walking leg mechanism with integration of a wheel type, a foot type and a wheel-foot composite type and relates to a robot walking leg mechanism. The robot walking leg mechanism aims at solving the problem that a foot-type traveling part of an existing wheel-leg type mechanism can not be applied to a foot-type robot and a ground vehicle operating under the condition of mixed terrains. The robot walking leg mechanism comprises a front swinging rod component, a side swinging rod component, a wheel shaft (8), a wheel (18) and a connecting rod (2), wherein the connecting rod (2) is vertically arranged; the front swinging rod component is arranged at the upper part of the connecting rod (2); one end of the side swinging rod component is arranged at the lower part of the connecting rod (2); the side swinging rod component is vertical to the front swinging rod component; the wheel shaft (8) is connected with the other end of the side swinging rod component; the wheel (18) rotatably sheathes the wheel shaft (8). The robot walking leg mechanism disclosed by the invention is used on a robot.
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Description

technical field

[0001] The invention relates to a four-degree-of-freedom plane link-type robot walking leg mechanism, in particular to a robot walking leg mechanism integrating wheel-type, foot-type and wheel-foot compound walking functions. Background technique

[0002] The walking leg is an important part of the footed walking robot, and the performance of the walking leg is directly related to the walking speed, efficiency, obstacle-surmounting ability, ditch-crossing ability and terrain adaptability of the robot. Compared with wheeled robots, footed robots have the disadvantages of slow walking speed and low driving efficiency. Energy utilization efficiency has become the most important factor limiting the payload weight ratio of footed robots; but at the same time, footed robots also have a strong ability to overcome obstacles. , the moving direction can be adjusted in all directions, the terrain adaptability is strong, and the movement flexibility is good.

[0003] Th...

Claims

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