Wheel-leg hybrid quadruped robot

Abstract

Provided is a wheel-leg composite type four-leg robot. The wheel-leg composite four-leg robot is characterized by comprising an inner car frame, an outer car frame, a cushioning assembly, two pairs of upper leg parallel connection assemblies and four wheel type legs with identical structures. The inner car frame is arranged inside the outer car frame. The inner car frame is connected with the outer car frame through the cushioning assembly. The upper leg parallel connection assemblies of two front legs arranged below the outer car frame are symmetric with each other in a left and right mode, and two front-wheels type legs connected with the parallel connection assemblies are symmetric in a left and right mode. The upper leg parallel connection assemblies of two rear legs arranged below the inner car frame are symmetric with each other in a left and right mode, and two rear-wheels type legs connected with the parallel connection assemblies are symmetric with each other in a left and right mode. Each leg is in a (2-UPS+U) R series and parallel hybrid connection. The wheel-leg composite type four-leg robot has the advantages that the load is big, the rigidity is good, the coupling is small, the obstacle crossing advantage of the leg mechanism is fully applied, the complexity of the control and a mechanical structure is lowered, the installation is easy and convenient, and the maintenance is convenient. The positions and stress information of upper legs and lower legs can be obtained through sensors, and the self-adaption control in an unknown environment can be achieved.

Description

technical field [0001] The invention relates to a robot, especially a robot for rescue. Background technique [0002] Natural disasters, terrorist activities and nuclear pollution are frequent in today's world. These places are not suitable for on-site operations. There is an urgent need for robots that can replace humans to undertake rescue tasks in various disasters. In the face of complex and changeable harsh environments, higher requirements are placed on the off-road capabilities of robots. At present, due to the excellent off-road capability of the wheel-leg hybrid robot, it has become a research hotspot and trend of various research institutions. [0003] However, most of the legged mechanisms of this type of robot use series or special suspension structures, which have small loads, generally slow speeds, poor adaptability to unknown environments, and cannot give full play to the advantages of wheels and legs, and are far away from practical applications. Therefore,...

AI Technical Summary

Problems solved by technology

[0003] However, most of the legged mechanisms of this type of robot use series or special suspension structures, which have small loads, generally slow speeds, poor adaptability to unknown environments, and cannot give full play to the advantages of wheels and legs, and are far away from practical applications.

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