A dual-purpose wheel-legged robot leg structure

Abstract

The invention discloses a dual-purpose wheel-legged robot leg structure. The structure comprises a walking wheel, a power supply device and a supporting frame. The robot leg structure can be used as an eccentric wheel leg or used as a wheel or used as both the eccentric wheel leg and the wheel and the mode can be selected according to different terrains. An eccentric wheel is more suitable for walking on the complex terrains such as the gravel surface or the grass surface or the sand surface compared with a traditional wheel and a traditional multi-legged robot, the obstacle crossing ability is high, and the wheel can easily stride over an obstacle slightly lower than a robot body. The wheel can save more energy compared with the eccentric wheel when walking on the smooth hard surface, acute oscillation caused by the eccentric wheel in the walking process can be avoided, and the walking stability and the walking speed are guaranteed. The eccentric wheel and the wheel are combined, so that continuous stable work of the dual-purpose wheel-legged robot leg structure on the smooth hard surface and the complex terrains is achieved.

Description

technical field [0001] The invention relates to a robot leg structure of a multi-legged robot, in particular to a semicircular leg robot leg structure and a wheel robot wheel structure. Background technique [0002] Common robot leg structures mainly include wheeled and multi-degree-of-freedom footed. Wheeled robots have the advantages of simple structure, fast movement speed, high efficiency, and easy control. However, the ground that wheeled robots can pass must be is continuous, but many ground passable areas in the natural environment are discrete and discontinuous, and the multi-degree-of-freedom legged robot plans the footholds for the ground environment so that it can pass through discrete and discontinuous rough ground, but in its Planning the foothold also reduces the walking speed of the robot. For occasions with relatively high speed requirements, it is obvious that the multi-degree-of-freedom legged robot is not suitable. In order to enhance the robot's ability ...

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Problems solved by technology

[0003] From the above analysis, it can be seen that semicircular legged robots have more advantages than other legged robots in walking on complex terrain such as gravel, grass, sand and other surfaces, but they vibrate when walking on flat and hard surfaces, which is not as good as wheeled robots. Convenience, based on this, the present invention proposes a dual-purpose wheel-legged robot leg structure, referring to figure 1 , when the power supply device 2 brakes, the road wheel 1 rotates with the robot power output shaft as the axis, forming an eccentric wheel with the robot power output shaft 6 as the axis, and the rotation of the eccentric wheel promotes the motion of the robot; When the power output shaft of the robot brakes, the support frame 3 is fixed relative to the robot, and the power supply device 2 provides power for the walking wheel 1. At this time, the robot moves through the rotation of the walking wheel 1

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