A wheel-foot composite walking mechanism

Abstract

The invention discloses a wheel-foot composite walking mechanism, which includes a hip joint rotating shaft, a knee joint motor fixed plate, a knee joint motor, a knee joint rotating shaft, an ankle joint motor, a calf structural member, an ankle joint rotating shaft, a foot structural member, and a driving wheel. The driven wheel has a driving wheel and a driven wheel installed on the foot structure, so that when walking on flat ground, all the motors of the leg keep the joints in a locked state through the locking element. At this time, the walking of the robot can be controlled by controlling the driving wheel alone. The advantages of the wheeled robot can be used to increase the walking speed without requiring other joints to participate in the movement. The motor can be completely in a power-off state, thus saving energy and extending the time. working hours. When an obstacle is encountered and needs to be crossed, the driving wheel and driven wheel on the foot structure are locked, and the motors of the legs coordinate their movements, giving full play to the advantages of conventional biped robots with good environmental adaptability.

Description

Technical field [0001] The invention relates to the technical field of automatic control machines, and in particular to a wheel-foot composite walking mechanism. Background technology [0002] The use scenarios of traditional wheeled robots and crawler robots have great limitations. Traditional wheeled robots have poor obstacle surmounting ability, poor terrain adaptability, low turning efficiency, or large turning radius, are prone to slipping, and are not stable enough. Crawler robots also have very high requirements on terrain, and are powerless on terrain with large height differences. They are not as flexible and convenient as bipedal robots. Bipedal robots can adapt to almost all kinds of complex terrains, can cross obstacles, have a good degree of freedom, and can move flexibly, freely and stably. The usage scenarios of bipedal robots are more complex and their application fields are wider. [0003] Existing bipedal robots have greatly improved their flexibility and...

AI Technical Summary

Problems solved by technology

[0003] Existing biped robots have been greatly improved in flexibility and adaptability to complex environments, but limited by the capacity of the battery, the continuous working time will not be very long, because biped robots can walk on flat ground, Or complex terrain requires multiple joints to coordinate and move at the same time, which reduces the walking speed in the flat environment and increases power consumption, so that the battery on the robot itself cannot provide energy for a long time, shortening the working time of the robot , which reduces the walking reliability of the biped robot

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