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A wheel-leg mode switchable robot

A robot and pattern technology, applied in the field of robots, can solve the problems of complex control methods and complex mechanical structures, and achieve the effects of expanding the scope of application, flexible movement, and fast moving speed.

Inactive Publication Date: 2016-08-31
TIANJIN ZHIDA ROBOT +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The mechanical structure required for this conversion mode is relatively complicated, and the control method is complicated

Method used

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  • A wheel-leg mode switchable robot
  • A wheel-leg mode switchable robot
  • A wheel-leg mode switchable robot

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Experimental program
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Embodiment Construction

[0022] Embodiments of the present invention will be described in further detail below in conjunction with the accompanying drawings.

[0023] A wheel-leg mode switchable robot, such as figure 1 and figure 2 Shown, it consists of car body (1), left front wheel (2), right front wheel (3), left rear wheel (4), right rear wheel (5), left front leg (6), right front leg (7), left Composed of hind legs (8) and right hind legs (9). Wherein, the left front wheel (2), the right front wheel (3), the left rear wheel (4) and the right rear wheel (5) have exactly the same structure, and are evenly distributed on the long sides of the robot car body (1) both sides; (6), right front leg (7), left rear leg (8) and right rear leg (9) structure are exactly the same, are evenly distributed on the long side that is installed in robot car body (1).

[0024] Such as image 3 As shown, the vehicle body (1) is composed of three parts: a vehicle body (11), a front mounting plate (12) and a rear mo...

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Abstract

The invention relates to a robot capable of being switched between a wheel mode and a leg mode. The robot is characterized in that four legs completely identical in structure and four wheels are symmetrically installed on the long edges of the two sides of a vehicle body, a wheel motor drive device is installed in the vehicle body and used for driving the four wheels, and each leg comprises an arc-shaped connecting frame, a thigh, a shank and a foot, wherein the bottom of the shank is installed on the foot, the top of the shank is installed between two parts of the thigh, the thigh is provided with a thigh drive device and a shank drive device, the arc-shaped connecting frame is installed between the vehicle body and the thigh, and the arc-shaped connecting frame is driven by an arc-shaped connecting frame motor on the side edge of the vehicle body and can rotate around the corresponding wheel. A wheel type robot body and a leg type robot body are combined together, and the different walking modes can be effectively selected according to the actual condition, so that the purposes of increasing the moving speed, reducing the energy loss of the robot and improving the flexibility of the robot are achieved, the robot has the advantages of being compact in structure, high in moving speed, high in terrain adaptive capacity and the like, and the drive mode is simple and flexible.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to a robot with switchable wheel-leg modes. Background technique [0002] At present, according to the walking mode of the robot, the robot can be divided into wheeled robot, crawler robot and legged robot. Wheeled robots have the advantages of simple operation, fast moving speed, good stability, and convenient drive control. However, they have poor environmental adaptability, low obstacle avoidance ability, and relatively high requirements for road conditions. Tracked robots have strong ability to work in the field, move fast, and move stably, but they have disadvantages such as relatively large volume, relatively high requirements on road conditions, and low obstacle avoidance ability. Legged robots generally adopt the form of a multi-link mechanism in series, which has the advantages of good mobility, low requirements on the road surface, changeable gait, and flexible obstacle su...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/032B62D57/028
CPCB62D57/028B62D57/032
Inventor 刘冰清刘翔宇万媛
Owner TIANJIN ZHIDA ROBOT
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