Air-ground integrated electric parallel-connection type wheel-foot driving mechanism

Abstract

The invention discloses an air-ground integrated electric parallel-connection type wheel-foot driving mechanism. The air-ground integrated electric parallel-connection type wheel-foot driving mechanism comprises a fuselage, a Stewart platform, flight driving modules, wheel-foot driving modules and transmission connecting rods; the flight driving modules can realize flight movement, and the wheel-foot driving modules can be switched to be in foot-type movement or wheel-type movement or wheel-foot composite movement by locking and unlocking idler wheels; the Stewart platform is reversely arranged, the fuselage is fixedly connected with a lower platform of the Stewart platform, the flight driving modules are mounted on the fuselage, the wheel-foot driving modules are mounted on an upper platform of the Stewart platform, and the flight driving modules are connected with the wheel-foot driving modules through the transmission connecting rods to constitute driving devices; and the four driving devices are evenly arranged around the fuselage, the flight driving modules and the wheel-foot driving modules are controlled to be connected and disconnected with the transmission connecting rodscorrespondingly to realize switching of the flight movement, the foot-type movement, the wheel-type movement and the wheel-foot composite movement. According to the air-ground integrated electric parallel-connection type wheel-foot driving mechanism, the defect that a conventional robot cannot pass on the complex road surface and the road surface with obstacles and even in the extreme environmentcan be avoided.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to an air-ground integrated electric parallel wheel foot drive mechanism. Background technique [0002] The development of robot technology has brought great convenience to people's life. There are many robots in the fields of disability assistance, medical rescue, emergency rescue, resource exploration and fire-fighting operations. Specific fields complete special tasks, and the singleness of functions limits its application in other fields. In addition, traditional robots are mostly wheeled, footed, and wheeled. These robots have advantages and disadvantages in terms of mechanism and motion performance. Wheeled robots are known for their high movement efficiency, but it is difficult to operate in a wheeled movement mode on complex roads with obstacles; while footed robots can overcome obstacles in such a road environment, but their movement time is long and their operating efficie...

AI Technical Summary

Problems solved by technology

However, in extreme situations, such as: high walls, rivers, cliffs and other environments, no matter whether it is wheeled, footed or wheel-foot compound sports, it is impossible to pass

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