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Wheel and leg mechanism for wheel and leg compound type robot and control method

A compound and robotic technology, applied in the field of wheel-leg mechanism, can solve the problems of complex wheel-leg structure and large mass, and achieve the effects of light weight, simplified structure, and vibration reduction

Active Publication Date: 2016-06-29
SOUTHEAST UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a wheel-leg mechanism and control method applied to a wheel-leg compound robot, which is used to overcome the complex structure and quality of the existing wheel-leg compound robot wheel legs. Big deficiency

Method used

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  • Wheel and leg mechanism for wheel and leg compound type robot and control method
  • Wheel and leg mechanism for wheel and leg compound type robot and control method
  • Wheel and leg mechanism for wheel and leg compound type robot and control method

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Embodiment Construction

[0018] The present invention will be further described below in conjunction with the accompanying drawings.

[0019] Such as figure 1 Shown is the schematic diagram of the wheel-leg mechanism embodied in the present invention. Wheel leg mechanism among the present invention comprises power machine 104, power machine 106, thigh 108, shank 110, toe 112, rotating disk 114, rope 116, hinged device 118 and a pair of torsion spring 120 of left and right rotation.

[0020] The power machines 104 , 106 are mounted on the machine body 102 . Described thigh 108 comprises round wheel and femur, and the top of described femur is fixed on the central rotating shaft of round wheel, and the end of femur is fixed on the circumference of round wheel, wherein the output shaft of power machine 104 connects the top of femur, Controlled rotation of the thigh 108 forms the hip joint 122 .

[0021] The end of the femur and the top of the lower leg 110 are hinged together by a hinge 118 to form a ...

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Abstract

The invention discloses a wheel and leg mechanism for a wheel and leg compound type robot.The wheel and leg mechanism comprises two power machines, thighs, shanks, toes, rotary discs, ropes, hinge devices and a pair of left-handed torsional spring and right-handed torsional spring.Through the cooperative control of the two power machines, the wheel mode and the leg mode of the robot can be switched, and the robot can correspondingly move in the two modes.According to the wheel and leg mechanism, the power machines are both installed on a machine body, and therefore legs are low in weight, and the influences of the rotating inertia of the moving legs on the stability of the robot are effectively reduced when the robot moves in the leg mode.According to the wheel and leg mechanism, the pair of torsional springs are added to knee joints of the legs, and the vibration caused when the robot moves in the leg mode and the toes hit the ground is effectively relieved.

Description

technical field [0001] The invention relates to a wheel-leg compound robot, in particular to a wheel-leg mechanism of the wheel-leg compound robot. Background technique [0002] In the event of fires, mine disasters, nuclear leaks, terrorist attacks and other events, it is often necessary to carry out dangerous tasks such as search and rescue, anti-terrorism, detonation, and reconnaissance. In order to reduce casualties, mobile robots are often used. Due to the complex ground environment with both flat and irregular terrains, there is a need for mobile robots that can move efficiently in both terrains. Wheeled robots can achieve fast and stable locomotion on flat ground, while legged robots can adapt to irregular terrain. In order to integrate the advantages of wheeled and legged robots, wheel-legged composite robots have become a hot spot in the field of mobile robot research. The existing wheel-leg composite robot wheel legs have complex structures and large masses, whi...

Claims

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Application Information

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IPC IPC(8): B62D57/028
CPCB62D57/028
Inventor 宋光明韦中张勇郑楚婷彭璜宋爱国
Owner SOUTHEAST UNIV
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