A multi-degree-of-freedom mechanical wheel-leg structure of a wheel-leg compound mobile robot

Abstract

The invention discloses a multi-degree-of-freedom mechanical wheel leg structure of a wheel leg composite type mobile robot. A wheel movement mode and a leg movement mode can be flexibly switched, thewheel type high maneuverability and the leg foot type strong environmental adaptability are effectively combined, the wheel leg has a plurality of degrees of freedom, and omni-directional movement can be achieved to adjust the machine body posture and the gravity center balance, wherein a damping spring is arranged at a knee joint of the wheel leg, and the adaptability of a leg joint is improvedwhen the leg joint is impacted by the ground by utilizing the buffering capacity of the spring, and a control motor enables a thigh screw sliding table lifting tensioning telescopic mechanism and a calf electric cylinder force feedback telescopic mechanism to operate cooperatively. The hip joint chain transmission can lock a swing mechanism and can drive the mechanical wheel leg to swing along a rotating shaft perpendicular to the ground, the action matched with a wheel leg steering mechanism can realize a omni-directional running function of the wheel leg or the variable wheel distance variable wheelbase driving; and mechanical wheel leg has modular features, good dynamic ride smoothness and high trafficability of complex terrain.

Description

technical field [0001] The invention relates to the technical field of robots and automatic control, in particular to a multi-degree-of-freedom mechanical wheel-leg structure of a wheel-leg compound mobile robot. Background technique [0002] The application requirements of mobile robots in military, agricultural, and scientific research fields are becoming more and more extensive. Traditional mobile robots can be divided into wheeled, legged and tracked according to different driving methods. The most widely used is the wheeled mobile robot, which has relatively simple structure and control, high motion efficiency, and fast moving speed. The disadvantage is that it has poor adaptability to terrain. Legged robots usually have bipedal, quadrupedal, and hexapodal configurations. Compared with wheeled robots, this type of robot has a strong ability to adapt to terrain and has a strong ability to overcome obstacles, but it moves slowly and has low efficiency and energy consumpt...

AI Technical Summary

Problems solved by technology

The most common application is the wheeled mobile robot, which has a relatively simple structure and control, high motion efficiency, and fast moving speed. The disadvantage is that it has poor adaptability to terrain

Legged robots usually have bipedal, quadrupedal, and hexapodal configurations. Compared with wheeled robots, this type of robot has a strong ability to adapt to terrain and has a strong ability to overcome obstacles, but it moves slowly and has low efficiency and energy consumption. higher

Compared with the first two types of robots, crawler robots have a larger contact area with the ground, are suitable for moving on soil or loose ground, and have strong ability to climb and overcome obstacles, but the disadvantages are that they are too heavy and walk slowly

The wheel leg structure realizes the movement along the height direction by controlling the actuator, but the disadvantage is that the length of the mechanical leg is fixed, and the length of the mechanical leg cannot be changed; at the same time, the hip joint cannot rotate freely horizontally

However, the range of movement of wheeled movement is reduced compared with that of legged movement; at the same time, only two legs can be controlled at the same time through slider movement, and independent control of a single leg cannot be achieved.

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