Wheel-leg variable structure robot

Abstract

The invention provides a wheel-leg variable structure robot, comprising: a frame, a mechanical arm and a mechanical leg. The mechanical arm is installed on the frame; The mechanical legs are in series configuration, and the mechanical legs are connected by driving branches and each has multiple degrees of freedom. In the present invention, springs with different stiffnesses are installed in series on each driving branch chain, which can be used as passive suspension to reduce the impact load received by the motor when the robot walks with legs; the operating mechanical arm has seven degrees of freedom, and has good movement flexibility. It can carry out sampling or handling operations; the wheel-leg variable structure robot provided by the present invention has fast and flexible movement, strong terrain adaptability, and good obstacle crossing ability, and can meet the requirements of terrain detection, material transportation, sample collection and personnel search and rescue under complex unstructured terrain. job demands.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a wheel-leg variable structure robot, in particular to a six-wheel leg variable structure robot with two waists. Background technique [0002] The mobile robots that have been applied at this stage are mostly wheeled, legged, crawler-type structures and various robots with compound motion forms. Among them, the wheel-legged robot combines the advantages of wheeled robots and legged robots. It has a faster moving speed and excellent maneuverability on relatively flat ground. When encountering large undulating ground or obstacles that cannot be crossed, The robot form can be switched to allow the robot to cross obstacles in a legged movement mode. The traditional wheel-legged robot adds wheel drive to its feet or other positions on the basis of the legged robot, so that it can move through the wheels. This structure does not fully integrate the wheel mechanism and the leg mechanism...

AI Technical Summary

Problems solved by technology

The frame of the robot is designed in one piece. During the wheeled walking process, each wheel leg cannot fit the ground well, and it is difficult to adapt to the undulations of the terrain. When performing legged movement, the robot's leg drive does not have a series elastic link, which resists The ability of the terrain to impact and disturb the legs is weak

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