Leg-wheel type quadruped robot

A quadruped robot and foot-wheeled technology, which is applied in the field of mobile robots, can solve the problem of unable to achieve a smooth transition between wheels and legs, and achieve the effects of good economical value, improved speed and simple structure.

Inactive Publication Date: 2014-10-08
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The wheels and legs of the robot are separated, that is, the wheels and legs exist at the same time, but the wheels are rotated to form legs after deformation, and they cannot achieve a smooth transition between the wheels and legs

Method used

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  • Leg-wheel type quadruped robot
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  • Leg-wheel type quadruped robot

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Embodiment Construction

[0016] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0017] Such as Figure 1 to Figure 3 As shown, the technical solution of the present invention is: a kind of foot wheel type quadruped robot, comprises trunk 2, and trunk bracket 3 is installed on the bottom of trunk 2, and four three-degree-of-freedom foot wheel motion branch chains are installed on described trunk 2 1. Foot wheel motion branch chain 1 includes horizontal hip joint, vertical synchronous wheel hip joint, wheeled thigh 13, wheeled knee joint, wheeled calf 15 connected in sequence, and horizontal hip joint includes rotation device A111 and actuator bracket 112. Actuator 113, the rotating device A111 is directly fixed on the torso, the rotating device A111 is connected to the actuator bracket 112, the actuator 113 is installed on the actuator bracket...

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Abstract

The invention discloses a leg-wheel type quadruped robot which comprises a body, wherein a body support is arranged under the body, four three-degree-of-freedom leg-wheel movement branched chains are arranged on the body and can be changed into wheels and legs, and inter-transformation between legs and wheels of the robot can be achieved quickly. The three-degree-of-freedom leg-wheel movement branched chains can be changed into legs on uneven roads, and therefore, strong adaptive capacity and good passability are achieved. The three-degree-of-freedom leg-wheel movement branched chains can be changed into wheels on even roads, and therefore, high speed and good maneuverability are achieved. The leg-wheel type quadruped robot is simple in structure and low in cost and has good economical and applicable value.

Description

technical field [0001] The invention belongs to the technical field of mobile robots, in particular to a wheeled quadruped robot Background technique [0002] Robot is a comprehensive technology integrating many disciplines such as machinery, electronics, computer, sensor and control technology. At present, there are wheel-type, leg-type, crawler-type, wheel-leg-type and so on in the mechanism of robot walking both at home and abroad. Wheeled robots include single-wheel, two-wheel, multi-wheel, etc. For example, Nanjing University of Science and Technology's master's degree thesis "Study on Structural Design and Fuzzy Control Technology of Autonomous Mobile Robot with Six-wheeled Legs", this article proposes a six-wheeled robot, which has the advantage of fast speed, but the structure is pure wheeled. Although it can control the angle of the wheels through the pull rod, it still cannot pass the rough road. There are also single-legged, double-legged, and multi-legged pose...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/028
Inventor 代小林张戈崔巍杰张龙罗吉林乐成李建华
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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