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
View PDF7 Cites 11 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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 app

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • 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

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

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

[0019] Such as figure 1 Shown is a schematic diagram of the wheel-leg mechanism implemented in the present invention. The wheel-leg mechanism in the present invention includes a power machine 104, a power machine 106, a thigh 108, a calf 110, a toe 112, a turntable 114, a rope 116, an articulation device 118 and a pair of left and right torsion springs 120.

[0020] The power machines 104 and 106 are mounted on the body 102. The thigh 108 includes a round wheel and a thigh bone. The top end of the thigh bone is fixed on the central rotating shaft of the round wheel, and the end of the thigh bone is fixed on the circumference of the round wheel. The output shaft of the power machine 104 is connected to the top end of the thigh bone, Control the rotation of the thigh 108 to form a hip joint 122.

[0021] The end of the femur and the top of the calf 110 are hinged together by the hinge dev...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
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
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap