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Wheel leg type walking mechanism

A technology of walking mechanism and wheel legs, which is applied in the field of robot walking mechanism, can solve problems such as the center of gravity and up and down fluctuations of slipping robots, and achieve the effects of improving obstacle surmounting ability and complex terrain adaptability, reducing pressure, and simplifying processing technology

Active Publication Date: 2017-06-20
CHONGQING UNIV
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  • Abstract
  • Description
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Problems solved by technology

[0006] In view of this, the purpose of the present invention is to overcome the defects in the prior art and provide a wheel-legged walking mechanism, which can solve the problems of the arc-shaped wheel-legged robot slipping and the center of gravity of the robot fluctuating up and down during the travel process.

Method used

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Embodiment Construction

[0027] figure 1 It is a schematic diagram of the wheel-leg traveling mechanism of the present invention; figure 2 It is a structural schematic diagram of the wheel-leg type traveling mechanism of the present invention; image 3 It is a new schematic diagram of the wheel-leg type traveling mechanism of the present invention. As shown in the figure, the wheel-leg walking mechanism of this embodiment includes a wheel-leg body and a burr layer 6 arranged on the outer surface of the wheel-leg body. The contact surface, the wheel leg body includes a straight line segment 1, an involute line segment 2, a second arc segment 3 and a first arc segment 4 which are sequentially arranged from the front end to the end of the wheel leg body; One end of the shaft is the "front end", and vice versa is the "tail end". When the wheel leg body rolls, the straight line segment 1, the involute segment 2, the second arc segment 3 and the first arc segment 4 are in rolling contact with the ground....

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Abstract

The invention discloses a wheel leg type walking mechanism. The wheel leg type walking mechanism comprises a wheel leg body of a C-shaped structure and a burr layer arranged on the outer surface of the wheel leg body. The wheel leg body is provided with an involute segment, a second circular arc segment and a first circular arc segment sequentially from front-end to end. The wheel leg type walking mechanism is capable of solving the problems of slipping of an arc-shaped wheel leg type robot in the starting gait and up-and-down fluctuating of the robot gravity center.

Description

technical field [0001] The invention relates to the field of robot walking mechanisms, in particular to a wheel-leg walking mechanism. Background technique [0002] There are mainly two types of travel modes for existing mobile robots: wheeled and multi-degree-of-freedom legged. Among them, the main advantage of the wheel structure is that the driving structure is simple, easy to control, and the moving speed is fast; the leg structure is a bionic walking mode that simulates the limb structure and movement mechanism of creatures (such as spiders, cheetahs, etc.), and its terrain adaptability is better. , can complete the operation tasks in some complex and unstructured terrains. [0003] At present, the above two mechanisms have relatively prominent shortcomings. Although the wheel structure is fast and simple in structure, the wheels are in continuous contact with the ground during travel, so the terrain adaptability is poor, and it is prone to slipping and other phenomen...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/02
CPCB62D57/02
Inventor 柏龙张家悦陈晓红石惠友张麦安
Owner CHONGQING UNIV
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