A wheeled robot leg system with shock absorption function

Abstract

The invention discloses a wheel foot robot leg system with a shock absorbing function, comprising a hip joint mechanism, a thigh mechanism, a calf mechanism, a spring shock absorbing system, and a wheel foot mechanism; the hip joint mechanism is used to rotate relative to the main structure of the robot The thigh mechanism is used to rotate relative to the hip joint mechanism; the lower leg mechanism is used to rotate relative to the thigh mechanism; the spring damping system is used for shock absorption; the wheel foot mechanism is used to drive the main structure of the robot, the hip joint mechanism, the thigh mechanism, and the lower leg The mechanism and the spring damping system carry out wheeled movement with the wheel foot mechanism. The invention can not only realize wheeled movement, but also realize footed movement. Compared with the traditional wheel-foot compound robot, the robot has a simpler structure, and only needs to add wheel feet to the foot end of the foot-type mobile robot. The mechanism can realize wheeled movement and footed movement, and there is no need to separately design wheeled movement mechanism at other positions of the robot, which effectively reduces the overall weight of the robot.

Description

technical field [0001] The invention relates to a wheel-foot robot leg system with a shock absorbing function, belonging to the technical field of robots. Background technique [0002] At present, mobile robots can be divided into wheeled mobile robots, crawler mobile robots, and legged mobile robots according to their mobile actuators. Wheeled mobile robots have low mobility on muddy and rough roads, and it is difficult to cross obstacles; footed mobile robots have weak carrying capacity, and there are still problems such as slow speed, low efficiency, and unstable walking when walking on flat roads; Most legged mobile robots do not have a shock absorption system. Elastic rubber rings are often added to the feet to reduce impact, but the effect is not ideal, and it will accelerate the wear of the rubber ring, and the trajectory of the robot is not accurate when walking. At the same time, it also greatly reduces the service life of the motor. Contents of the invention ...

AI Technical Summary

Problems solved by technology

Wheeled mobile robots have low mobility on muddy and rough roads, and it is difficult to cross obstacles; footed mobile robots have weak carrying capacity, and there are still problems such as slow speed, low efficiency, and unstable walking when walking on flat roads; Most legged mobile robots do not have a shock absorption system. Elastic rubber rings are often added to the feet to reduce impact, but the effect is not ideal, and it will accelerate the wear of the rubber ring, and the trajectory of the robot is not accurate when walking. At the same time, it also greatly reduces the service life of the motor

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