Single-leg structure for wheel-legged type robot in leg-arm mixing operation

Abstract

The invention discloses a single-leg structure for a wheel-leg type robot in leg-arm mixing operation. A cockroach is simulated by applying bionic mechanism principles, and front three joints, namely a buttock joint, a hip joint and a knee joint, are arranged; rear three operating joints are respectively a first ankle joint, a second ankle joint and a third ankle joint; steering engines of the three front joints are directly connected with femur parts and drive the femur parts to rotate; a driving motor of the first ankle joint also adopts a direct-driving manner; for the rear two joints, because of the limit to the total length of a single leg and a demand for preventing motion interference, the second ankle joint is driven by adopting worm wheels and a worm; the third ankle joint uses gears to transmit power; a rolling wheel is arranged between the knee joint and the first ankle joint, and the switchover between a wheel rolling mode and a walking mode can be realized. The single-leg structure disclosed by the invention has the advantages that a tail end can form various postures, and many postures can be adopted when the robot stands or walks; whether the robot performs single-leg-arm mixing operation or double-leg-arm coordination, many route planning methods can be selected, and the flexibility is high.

Description

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AI Technical Summary

Benefits of technology

This patented technology allows for better control over robots by allowing them to move around easily with different configurations without getting stuck due to their weight distribution across multiple parts. Additionally, it simplifies the mechanism used to switch from one mode into another while still maintaining good stability. Overall, this innovation improves efficiency and performance of robotic systems.

Problems solved by technology

Technological Problem: Mobile robotic systems face challenges when transition from one type of movement into another due to their limited range or ability to handle complicated terrains. These difficulties include lack of flexibility for different types of movements (such as bouncing), slow response time during turning maneuvers, difficult changing direction at crossing points, and being unable to recover autonomously after reaching certain height above them without stopping. Additionally, there may be issues related to how well they operate under various conditions like uneven surfaces caused by varying levels of dirtiness.

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