Double-leg and double-wheel composite motion robot

Abstract

A double-leg and double-wheel composite motion robot comprises a trunk part, two mechanical legs and two mechanical arms, wherein the trunk part comprises a trunk and a crotch, the trunk and the crotch are connected through a rotary joint, and a trunk-crotch hydraulic cylinder is connected between the trunk and the crotch; the two mechanical legs are arranged on the two sides of the crotch, each mechanical leg is connected with the crotch through a rotary joint, and a driving wheel is installed at the bottom end of each mechanical leg; and the two mechanical arms are arranged on the two sidesof the trunk and connected with the trunk through rotary joints. The robot has the vertical walking and jumping capacity of a biped robot and the high moving speed of a wheeled robot. Meanwhile, the mechanical arms can achieve the functions of grabbing, carrying and the like; when the robot walks on a flat road surface, the robot can be driven by the driving wheels to move, the advancing speed isincreased, and the energy utilization efficiency is improved; when the robot needs to cross obstacles, the robot can play the advantages of a biped motion mode, and the functions of jumping, squatting, landing buffering and the like are achieved.

Description

technical field [0001] The invention relates to a robot driven by double legs and double wheels, and belongs to the technical field of leg-wheel mobile robots. Background technique [0002] Compared with traditional wheeled or tracked robots, legged robots have the advantages of adapting to complex terrain, flexible movement, and strong obstacle overcoming ability, but the existing legged robots have disadvantages such as slow walking speed and low driving efficiency; and Wheeled robots have the advantages of fast walking speed and high driving efficiency, but their ability to adapt to terrain and overcome obstacles is limited. Current research mainly focuses on two types of robots, legged and wheeled, and cannot fully utilize the advantages of strong terrain adaptability and fast movement speed of the two types of robots, and it is difficult to meet the needs of practical applications. [0003] Commonly used driving methods for robots are hydraulic drive and motor drive. H...

AI Technical Summary

Problems solved by technology

[0006] Aiming at the problems of low efficiency of existing legs and feet and insufficient adaptability of wheeled movement to terrain, the present invention proposes a leg-wheel compound motion robot, which uses driving wheels to replace the feet in the traditional leg-foot structure, and uses driving wheels on flat roads Control the movement, and realize the walking and jumping of the biped robot in complex terrain. At the same time, it has high movement speed, strong environmental adaptability and obstacle surmounting ability. At the same time, the robot trunk is equipped with two mechanical arms. It can realize the functions of grabbing and handling

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