Variable configuration wheel-leg mobile robot

Abstract

The invention provides a mobile operation robot with variable-structure-state wheel legs. The mobile operation robot with variable-structure-state wheel legs includes a body structure, and a moving leg group, wherein one or multiple moving legs are installed on the body structure. The moving leg group comprises one or multiple moving legs, the moving leg group can be converted between the roller state and the wheel leg state, wherein in the roller state, the multiple moving legs are arranged in the circumferential direction and in the wheel leg state, the multiple moving legs are arranged fromfront to back. According to terrain, the mobile operation robot with variable-structure-state wheel legs changes a structure state, the robot can base in six foot structure state to walk through unstructured complex terrain, and can also base in three wheel structure state to walk through continuous and flat terrain. The robot is driven to walk by lifting legs and taking steps, the step length and height are adjusted, and thus the robot can adapt to the complex terrain, and walk through low space through adjusting the toe position.

Description

technical field [0001] The invention relates to the field of mobile robots, in particular to a mobile working robot with variable configuration wheels and legs. Background technique [0002] In the fields of detection and rescue, it is often encountered situations that are difficult to reach by manpower, or the environment is too dangerous, such as narrow caves, earthquake ruins, fire scenes, etc. At this time, the use of mobile robots will have a good effect. Existing robots mainly include two types, one is roller-type, which moves fast, but has high requirements on road conditions; the other is wheel-leg type, which has low requirements on road conditions, but moves slowly. At present, wheel-legged robots are basically limited to compound types, and there is a lack of mobile robots with variable configuration wheel-legs. In the prior art, there are robots that switch between the wheel-leg mode and the wheel-leg mode, but the structures corresponding to the two modes are re...

AI Technical Summary

Problems solved by technology

At present, wheel-leg robots are basically limited to compound types, and there is a lack of mobile robots with variable configuration wheel legs. In the prior art, there are robots that switch between wheel-leg mode and wheel-leg mode, but the structures corresponding to the two modes are relatively independent. , on the one hand, there are many components of the robot, and the overall layout is relatively bloated; on the other hand, it is easy to cause motion interference, which affects the stability of motion

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