Wheel-leg hexapod robot with suspension system

Abstract

The invention discloses a wheel-leg hexapod robot with a suspension system. The wheel-leg hexapod robot comprises a machine body and six single leg structures; six single leg mechanisms are uniformly distributed in the circumferential direction of the machine body; each single leg structure comprises a heel joint, a hip joint and a knee joint, wherein each heel joint is connected with the machine body and is driven to rotate around a vertical Z axis through a motor; and each hip joint is connected with the corresponding heel joint through the suspension system. According to the suspension system, the shock-absorbing buffer effect in two directions can be achieved by using only one shock absorber. The hip joints and the knee joints are directly driven through the motor to rotate around a horizontal Y axis, and are connected through thigh structures; each knee joint is connected with the tail end of a shank structure and a wheeled locomotion mechanism is arranged at the tail end of each shank structure; and a foot end buffer mechanism is arranged at the front end of each shank. According to the wheel-leg hexapod robot with the suspension system, the integrity of the internal environment of the machine body in the motion process can be ensured, and meanwhile, the carrying capacity of the robot and the stability of the load in the motion process can be improved.

Description

technical field [0001] The invention relates to the field of robots, in particular to a wheel-leg type hexapod robot with a suspension system. Background technique [0002] At present, conventional mobile robots include wheeled robots and tracked robots. Compared with them, legged robots have stronger terrain adaptability and better maneuverability. As a typical representative of legged robots, hexapod robots have rich gaits and redundant limb structures, and can move flexibly on discrete grounds and cross obstacles. In addition, in a flat ground environment, compared with wheeled and tracked mobile robots, traditional legged robots have the disadvantages of slow moving speed and low efficiency. Therefore, the combination of wheeled and legged mobile robots Research is of great significance. Suspension system is a general term for all connection devices between the automobile frame and the wheel or axle originally applied in automobile manufacturing. It can be divided into...

AI Technical Summary

Problems solved by technology

In the existing large-scale hexapod robots, it mainly focuses on the load-carrying capacity of the robot, and there are few studies on the influence of the load on the movement of the robot body during the movement process, and at the same time, there is less impact on the internal equipment of the body due to motion bumps

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