Double-wheel-foot hybrid self-balancing robot

Abstract

The invention discloses a double-wheel-foot hybrid self-balancing robot. The double-wheel-foot hybrid self-balancing robot comprises a trunk support, wherein support leg assemblies are symmetrically arranged on two sides of the trunk support, the support leg assemblies comprise thigh supports, shank supports, auxiliary leg connecting rods, hub motors, hip joint motors and knee joint energy storagesprings, the hub motors are arranged at the bottoms of the shank supports, one ends of the thigh supports are connected with the shank supports through hinges, the knee joint energy storage springs are coaxial with the hinges, one ends of the knee joint energy storage springs are clamped on the shank supports, the other ends of the knee joint energy storage springs are clamped on the thigh supports, the other ends of the thigh supports are fixed to the output ends of the hip joint motors, the hip joint motors are installed in the trunk support, one ends of the auxiliary leg connecting rods are connected with the shank supports through hinges, and the other ends of the auxiliary leg connecting rods are connected with the trunk support with hinges. According to the double-wheel-foot hybridself-balancing robot, the structure positions of the thigh supports, the shank supports and the auxiliary leg connecting rods are ingeniously designed, so that the mass center position of the whole robot can be optimized.

Description

technical field [0001] The invention relates to a robot, in particular to a dual-wheel-foot hybrid self-balancing robot. Background technique [0002] At present, ground robots can be roughly divided into two types of motion configurations based on legs and feet and based on wheels. Traditional wheeled mobile robots have the advantages of simple structure, easy control, fast moving speed and strong stability, but they are only suitable for planes with good road conditions. The ground must be continuous and flat, and the movement is greatly affected by the terrain. When it meets a certain height It is impossible to pass through continuous obstacles. The legs and feet of the leg-footed mobile robot are flexible and can cross and climb many obstacles. They only need discrete support points and can adapt to various complex terrains. In complex terrains and unstructured environments, they have better flexibility. and adaptability. In recent years, some legged robot systems hav...

AI Technical Summary

Problems solved by technology

Patent document CN109159830A proposes a wheel-leg combined robot, which uses four foldable legs, driving wheels on both sides of the fuselage, and a driven wheel to switch between wheeled and legged motion states. The disadvantage of this solution is that it spans It takes a long time to switch modes when there is an obstacle, and the system requires more drive motors, the system integration is not compact enough, resulting in a complex structure, and it is not easy to realize the decoupling of automatic balance control and jump control

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