Two-wheeled quadruped robot

Abstract

The invention relates to a two-wheeled quadruped robot, and belongs to the technical field of mechanism design. The two-wheel quadruped robot includes a base plate, the left and right sides of the base plate are provided with walking wheels correspondingly, the left and right sides of the upper surface of the base plate are provided with walking motors, reducers and transmission shafts which correspond to the walking wheels correspondingly, and each walking wheel includes a wheel bracket, a wheel leg and a wheel leg driving device; the middles of the wheel brackets are provided with wheel legdriving device mounting grooves, the left and right sides of the lower parts of the wheel brackets are symmetrically provided with first pin shaft mounting holes, and the two wheel leg driving devicesare symmetrically arranged on the left and right sides of the wheel brackets; and each wheel leg driving device includes a driving motor, a lead screw seat, a driven gear, a driving gear, a lead screw, a nut sliding block and a wheel leg driving connecting rod assembly, and each wheel leg includes a connecting plate, a first hub plate, a supporting rod, a second hub plate, a third hub plate, a wheel foot, a first supporting sleeve, a second supporting sleeve and a telescopic pushing rod. The two-wheeled quadruped robot has the advantages of simple structure, convenient operation, large wheeldiameters of the walking wheels and adjustable leg length.

Description

technical field [0001] The invention relates to the technical field of mechanism design, in particular to a two-wheeled quadruped robot. Background technique [0002] Wheel-shaped robots can move quickly on flat roads, but generally wheel-shaped robots have small wheel diameters and poor terrain adaptability, making it difficult to adapt to rugged and complex terrain environments; while leg-footed robots have good terrain adaptability, which can be used on flat surfaces Walking on the road, but also able to walk in rough terrain environment, but its walking speed is relatively slow. In order to make full use of the advantages of the wheel-shaped structure and the leg-shaped structure, many scholars have designed a variety of wheel-leg composite structures that can realize the mutual conversion between the wheel-shaped structure and the leg-shaped structure. Two patents with application numbers 201710421366. When the wheel-leg structure is deformed into a leg-shaped structur...

AI Technical Summary

Problems solved by technology

[0002] Wheel-shaped robots can move quickly on flat roads, but generally wheel-shaped robots have small wheel diameters and poor terrain adaptability, making it difficult to adapt to rugged and complex terrain environments; while leg-footed robots have good terrain adaptability, which can Walking on the road, but also able to walk in rough terrain environment, but its walking speed is relatively slow

In order to make full use of the advantages of the wheel-shaped structure and the leg-shaped structure, many scholars have designed a variety of wheel-leg composite structures that can realize the mutual conversion between the wheel-shaped structure and the leg-shaped structure. Two patents with application numbers 201710421366. When the wheel-leg structure is deformed into a leg-shaped structure, three outriggers protrude from each wheel, and only one leg touches the ground when walking. There are problems such as large space occupation, short leg length, and poor obstacle-crossing ability; the patent application number is 201710271962.4 When the announced wheel-leg structure is deformed into a leg-shaped structure, the structure is relatively simple, but there are problems such as short leg length, non-adjustable, and poor load-carrying capacity; when the wheel-leg structure disclosed in the patent application number 201710540279. , the leg length is longer and the carrying capacity is greater, but there are problems such as complex structure, many transmission parts, and high manufacturing difficulty; , complex structure, difficult manufacturing and other issues

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