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Wheel-leg composite mobile robot

A mobile robot and robot technology, applied in the field of robots, can solve the problems of inability to turn in place and slow movement speed, and achieve the effect of improving obstacle-crossing ability, improving maneuverability and ensuring moving efficiency.

Inactive Publication Date: 2020-10-30
SHANGHAI JIAO TONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The waist mechanism of the robot connects the front half and the back half of the robot body, and the body posture of the robot can be changed through the waist mechanism, which is helpful for the robot to turn in a narrow environment, but the robot still needs a certain turning space during the turning process, which cannot be achieved. Steering in situ; the robot does not have a wheel drive mechanism and moves slowly on flat ground

Method used

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Embodiment Construction

[0033] The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0034] Such as figure 1 As shown, a wheel-leg composite robot provided by the present invention includes a wheel 1, a wheel motor 2, a shank 3, a shank driving lower link 4, a thigh 5, a shank driving upper link 6, a shank driving motor 7, and a thigh driving motor 8, U-shaped bracket 9, lower torso 10, upper torso 11 and waist rotating motor 12.

[0035] Wherein, one end of shank 3 is hinged with thigh 5, and the other end is fixedly connected with wheel motor 2, and wheel 1 is installed on the output...

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Abstract

The invention provides a wheel-leg composite mobile robot which comprises mechanical legs, an upper trunk, a lower trunk and a waist rotating motor, and the upper trunk and the lower trunk are connected through the waist rotating motor. The multiple mechanical legs are connected in series through multiple connecting rods and connected with the upper trunk and the lower trunk respectively. The waist rotating motor can achieve multi-directional steering of the robot in a wheel type moving mode and a leg type moving mode. In the six wheel legs of the robot, three legs are connected with the uppertrunk, the other three legs are connected with the lower trunk, the three legs connected with the same trunk are arranged in an equilateral triangle shape, and the equilateral triangle formed by thewheel legs connected to the two trunks is congruent. The six-wheel-leg composite mobile robot with the waist steering mechanism is few in drive, simple in structure and good in maneuvering performance, and can meet the requirements for movement and detection under complex terrain conditions.

Description

technical field [0001] The present invention relates to the technical field of robots, in particular to a wheel-leg composite mobile robot, in particular to a six-wheel-leg composite mobile robot with a waist steering mechanism. Background technique [0002] At present, the common forms of movement of mobile robots are wheeled, legged and compound, etc. Wheeled robots are faster and usually use active or passive suspension mechanisms to keep the frame stable, but it is difficult to cross complex terrain such as ravines, while legged robots The discrete support form has a strong ability to overcome obstacles, but the legged robot moves slowly on flat ground and cannot meet the needs of high maneuverability. The wheel-leg composite robot has both good maneuverability and terrain adaptability , more suitable for performing tasks in complex terrain. Common wheel-legged robots often add a vertical degree of freedom at the wheel or at the root of the legs to realize the steering ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/028
CPCB62D57/028
Inventor 齐臣坤高峰邢琰李化洋贾骏恺陈先宝胡勇
Owner SHANGHAI JIAO TONG UNIV
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