A multi-legged robot with wheel-leg transformation

Abstract

The invention belongs to the technical field of robots and discloses a wheel leg transformation type multi-legged robot. The wheel leg transformation type multi-legged robot comprises a transformablewheel leg mechanism, a driving control unit and multiple functional module units, wherein the transformable wheel leg mechanism is used for realizing a gait driving function and a wheel type driving function; the driving control unit and the multiple functional module units are arranged in the transformable wheel leg mechanism; the transformable wheel leg mechanism comprises a serial mechanism which is formed by connecting a first supporting leg, a second supporting leg and a third supporting leg with different structures through corresponding rotating shafts and has three rotation freedom degrees; and the external edges of the first supporting leg, the second supporting leg and the third supporting leg are of circular arc structures with same diameters. According to the wheel leg transformation type multi-legged robot, the integral structure is simple; the rigidity is high; the stability is reliable; the wheel leg transformation type multi-legged robot takes both obstacle crossing ability and moving speed into considerations; multiple functional modules can be additionally arranged so that the wheel leg transformation type multi-legged robot has complete functions; and very high practicability and broad application value are realized.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to a multi-legged robot of a wheel-leg transformation type. Background technique [0002] At present, the existing technologies commonly used in the industry are as follows: with the rapid development of science and technology, robots are widely used in services, medical services, etc. In various fields such as health, exploration, rescue, production, military, etc., it plays an increasingly important role in human's daily life. At present, the main robots can be divided into wheeled robots, crawler robots, multi-legged robots, snake robots and so on according to the way of movement. Although there are more and more types of robots and their functions are becoming more and more perfect, after analysis, it is found that each has its own defects: wheeled robots have a simple structure, low noise, and can move quickly, but they have high requirements on the road surface and cannot adap...

AI Technical Summary

Problems solved by technology

Although there are more and more types of robots and their functions are becoming more and more perfect, after analysis, it is found that each has its own defects: wheeled robots have a simple structure, low noise, and can move quickly, but they have high requirements on the road surface and cannot adapt to the wild. complex environment

After analysis of such a design, it is also found that there are defects: first, the mass of the wheels of the legs and the motor increases the load driven by each joint of the leg. According to the torque equal to the force multiplied by the arm, the leg joints need to choose a larger driving torque. The motor, which means that the size and mass of the motor will be further increased, resulting in the problem of large joint size and the overall large size of the leg

Second, it is impossible to completely solve the problem that it is difficult to balance the speed of movement and the ability to overcome obstacles. Because the driving motor of the wheel rotates at a certain angle, the wheel surface is in contact with the ground, and there is no relative movement, so that the length of the wheel surface that the wheel rotates is the length of the wheel on the ground. length of travel

[0004] (1) Wheels and drive motors increase the load driven by the leg joints. The leg drive motor needs to choose a model with larger torque and larger size, which makes the robot volume and weight larger.

[0005] (2) It is impossible to completely solve the problem that it is difficult to balance the moving speed and the ability to overcome obstacles. If the diameter of the wheel is large, the moving speed will increase, but the ability to overcome obstacles will decrease; if the diameter of the wheel is small, the ability to overcome obstacles will increase, but the moving speed will decrease.

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