omnidirectional wheeled robot

A robot and omnidirectional wheel technology, which is applied in motor vehicles, transportation and packaging, etc., can solve the problems of small size of robot legs, difficult platform posture adjustment, and no consideration of the robot's ability to overcome obstacles. Simple control and compact effects

Active Publication Date: 2021-08-27
SHANGHAI JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

This patent does not consider the robot's ability to overcome obstacles on complex roads, and the size of the robot's legs is too small to complete the adjustment of the platform pose

Method used

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Embodiment Construction

[0049]After extensive and in-depth research, the inventor first developed an omnidirectional wheel-footed robot with compact structure, simple control, high carrying capacity and high motion efficiency. The omnidirectional wheel-footed robot uses a parallelogram linkage mechanism to transmit the rotation of the knee joint, and integrates the drive motor into the upper part of the leg, which not only effectively reduces the moment of inertia of the leg, but also makes the leg mechanism flexible; and the robot's The structure of each leg is a symmetrical structure, and the robot itself also adopts a symmetrical structure and is isotropic. Wheels are arranged at the end of the legs of the robot, which can drive the robot forward or backward, and at the same time reduce the size of the legs, increase the flexibility of the legs, and enable the robot to flexibly adjust the position of the frame during the movement. Pose, through the rotation of the wheel drive motor, the wheels can...

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Abstract

The application discloses an omnidirectional wheel-footed robot, which includes: a frame and a plurality of serial legs installed under the frame; each serial leg includes a universal joint, a thigh connector and a lower leg connector in order from top to bottom The input end of the universal joint can rotate around the axis perpendicular to the plane where the frame is located, and the output end of the universal joint is connected with the thigh connecting piece; the lower leg connecting piece can rotate relative to the thigh connecting piece. The omnidirectional wheel-footed robot of the present application makes the robot compact in structure, simple in control, high in movement efficiency, flexible in leg mechanism, and high in carrying capacity through ingenious structural design, and is suitable for high-speed movement and transportation operations under complex terrain in planetary exploration.

Description

technical field [0001] The present application relates to the technical field of robots in mechanical engineering, in particular to an omnidirectional wheel-footed robot. Background technique [0002] The omnidirectional wheel-footed robot is a robot that uses wheels instead of the robot's feet. The robot can walk stably in complex terrain or move quickly and in all directions on a flat road. It can replace humans to work in dangerous environments, such as: Survey complex terrain, transport the wounded after a disaster, transport equipment and goods on the battlefield, etc. Compared with legged robots, omnidirectional wheel-footed robots can walk on flat roads by driving wheel feet, which greatly improves the walking speed of the robot and reduces the difficulty of controlling the robot. Efficiency and motion stability are of great significance; the use of tandem legs can improve the structural strength and stability of the robot, the drive device is simple in structure and...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/028
CPCB62D57/028
Inventor 何俊蔡旭
Owner SHANGHAI JIAOTONG UNIV
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