Wheeled-leg hybrid mobile robot

Abstract

The invention discloses a wheeled-leg hybrid mobile robot. The wheeled-leg hybrid mobile robot comprises a robot body, a plurality of mechanical legs, a plurality of wheel parts, a power source system for providing power for the mechanical legs and the wheel parts, a control device used for controlling the mechanical legs and the wheel parts to be switched and to move, and a shell mounted on the robot body, wherein the multiple mechanical legs and the wheel parts are independently mounted on the robot body; the robot body comprises an upper layer plate support, a lower layer plate support and a connecting frame connecting the upper layer plate support with the lower layer plate support; the power source system is mounted on the upper layer plate support; the multiple mechanical legs are distributed and mounted on the edges of the upper layer plate support; the multiple wheel parts are distributed and mounted on the periphery of the connecting frame; each mechanical leg is provided with at least three mechanical grippers; and the free end of each mechanical gripper can approach or go away from the central line of the robot body independently, and the task for gripping spherical or irregular objects is completed through mutual collaboration. The robot can adapt to various terrain environments by utilizing the two different moving modes of the mechanical legs and the wheel parts to the greatest extent, and can switch the different moving modes rapidly and safety through a parallel-connected control system.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to a wheel-leg composite mobile robot. Background technique [0002] The advantages of legged robots are that they can walk not only on flat ground but also on rough ground, can cross ravines, go up and down steps, and can do complete and one-way motion without slipping, and provide stable dynamics for the sensors on them. platform, so it has a wide range of applicability, but it has disadvantages, that is, it is difficult to realize its stable gait planning and stable balance control, and the efficiency of motion speed and energy utilization is low. In addition, legged robots are generally heavy and have complex structures. . The advantage of the wheeled robot is that it is easy to operate automatically and stable in action. It is especially suitable for moving on a flat ground. It has greater movement speed and energy utilization efficiency. It is a type of robot widely used at pr...

AI Technical Summary

Problems solved by technology

[0005] The technical idea of ​​the present invention is: aiming at the problem that the wheel-leg compound mobile robot is designed as a series structure in the prior art, which may cause poor adaptability due to no obvious distinction between independent movement of wheels or legs, a parallel structure and parallel structure is designed. Wheel-legged compound mobile robot with control circuit system

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