Wheel-legged robot with multiple walking modes

Abstract

The invention discloses a wheel-legged robot with multiple walking modes. The wheel-legged robot with the multiple walking modes comprises four wheel-leg devices distributed on the front, back, left and right, and the four wheel-leg devices are connected to a same machine body. The wheel-leg devices are connected with the machine body in a hinged mode, the wheel-leg devices arranged on the two sides are symmetrically arranged, and space which accommodates the two front wheel-leg devices is arranged between the two back wheel-leg devices. The machine body is of a foldable structure to shorten the wheelbase between the front and back wheel-leg devices through folding of the machine body. The machine body is further connected with a deformation driving device for folding and unfolding. Preferably, the deformation driving device is of a crank-connecting-rod structure, and two dead-point states of the crank-connecting-rod are used to realize locking of the two states of the machine body. The invention has the beneficial effects that the mutual switching among the four-footed movement, two-footed movement and wheel movement is achieved by folding and deformation of the machine body, so that the robot has high movement ability and good adaptability to complex terrains, can conveniently pass through the terrains, such as steps and ravines, has superior mobility on the flat road surface, and the adaptive capacity to environment is high.

Description

technical field [0001] The invention relates to a robot, in particular to a wheel-legged robot with multiple walking modes. Background technique [0002] With the continuous maturity and development of mobile robot technology, its application is becoming more and more extensive, and it will be more widely used in fields such as engineering exploration, anti-terrorist explosion protection, military reconnaissance, disaster search and rescue, and interstellar exploration. Mobility is an important characteristic of mobile robots, and the single walking mode is limited in terrain and other aspects. For example, traditional wheeled robots, legged robots, and tracked robots still have relatively large limitations in terms of mobility in addition to their own characteristics. In order to make mobile robots have better mobility and practicability, the development of wheel-legged robots with strong environmental adaptability and mobility has become a research hotspot in the field of...

AI Technical Summary

Problems solved by technology

Because most wheel-legged robots have many degrees of freedom and complex structures, the walking mode is relatively single, not only the coordination control of each joint is complicated, but also the adaptability to the changeable environment is poor.

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