Wheel-legged robot leg structure and mobile robot

Abstract

The invention provides a wheel-legged robot leg structure which comprises wheels, a shank connecting rod, a buffer energy storage spring, a thigh connecting rod, a shank driving motor, a thigh drivingmotor and a first shank transmission connecting rod. The thigh driving motor and the shank driving motor can rotate independently and drive the thigh connecting rod and the first shank transmission connecting rod to rotate respectively; and when the wheel impacts the ground, an included angle between the shank connecting rod and the thigh connecting rod is reduced, and the buffer energy storage spring can reduce an impact load transmitted to the thigh driving motor and the shank driving motor. By the adoption of the buffer energy storage spring in a parallel connection mode, impact on the motors when a foot end makes contact with the ground is reduced, energy can be stored, a peak torque of the driving motor is effectively reduced, the number of the motors needed by the adopted leg configuration is small, a working space is large, and the structure can walk in a complex terrain environment; and the structure has advantages of light weight and a small moment of inertia.

Description

technical field [0001] The present invention relates to the technical field of robots, in particular to a leg structure of a wheel-leg robot and a mobile robot, in particular to a leg structure of a wheel-leg robot with parallel links and a mobile robot. Background technique [0002] At present, common robot mobile mechanisms include wheeled, legged, crawler and compound mechanisms, etc. Wheeled and crawler robots are difficult to meet terrain adaptability requirements such as obstacle climbing, climbing, and ditch crossing, while legged robots use discrete supports It has the characteristics of strong ability to overcome obstacles, but the legged robot moves slowly on flat ground and has weak maneuverability. The wheel-legged composite robot has both good maneuverability and terrain adaptive ability, and is more suitable for complex terrain. Execute job tasks. Therefore, the research on the leg structure of the wheel-leg composite robot has important practical significance...

AI Technical Summary

Problems solved by technology

The leg structure needs to take up a lot of space, and the available space of the legs is limited, so it is difficult to meet the requirements of high obstacle-surpassing ability in complex terrain

The robot does not have a passive buffer and shock absorption system, and the impact load on the wheels will directly act on the motor, resulting in a large peak torque of the required motor and high energy consumption

Images