Wheel walking type robot foot end mechanism suitable for all-terrain road conditions

A robot, all-terrain technology, applied in the field of robotics, can solve the problem of slow walking speed of a footed robot, and achieve the effects of simple structure, strong resistance to lateral force, and good reliability

Active Publication Date: 2021-02-02
WUHAN UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] Robots have good application prospects in many fields such as disaster prevention and rescue, anti-terrorism rescue, etc. Among them, legged robots have great advantages in terms of carrying capacity and stability, and their research and development has been valued at home and abroad. However, legged robots However, there is a problem of slow travel speed, while the traditional wheeled robot has a faster travel speed in the way of wheeled travel
[0003] Wheel-step robots can easily switch between quick response and easy obstacle surmounting function

Method used

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  • Wheel walking type robot foot end mechanism suitable for all-terrain road conditions
  • Wheel walking type robot foot end mechanism suitable for all-terrain road conditions
  • Wheel walking type robot foot end mechanism suitable for all-terrain road conditions

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Embodiment Construction

[0029] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0030] refer to Figure 1 ~ Figure 4 As shown, the wheel-step robot foot mechanism suitable for all-terrain road conditions in an embodiment provided by the present invention includes a foot body shell 1, a wheel step conversion mechanism and foot claws, and the wheel step conversion mechanism is arranged on the foot body shell 1 on;

[0031] The plantar claws include claws and a wheel body 12, and the wheel body 12 is connected to the lower end of the foot shell 1 through a kingpin shaft 15. The wheel body 12 is connected with one end of the claw, and the other end of the claw is connected with the wheel step conversion mechanism, and the wheel step The conversion mechanism drives the pawl and the wheel body 12 to rotate around the kingpin shaft 15; The claws are directly in contact with the ground, which can have a large grip. When the claws are r...

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Abstract

The invention discloses a wheel walking type robot foot end mechanism suitable for all-terrain road conditions. The mechanism comprises a foot body shell, a wheel step conversion mechanism and a solepaw. The wheel step conversion mechanism is arranged on the foot body shell; the sole paw comprises a paw and a wheel body, the wheel body is connected at the lower end of the foot body shell througha main pin shaft, the wheel body is connected with one end of the paw, the other end of the paw is connected with the wheel step conversion mechanism, and the wheel step conversion mechanism drives the paw and the wheel body to rotate around the main pin shaft. The wheel walking type robot with the all-terrain road conditions can stably advance on the complex terrain.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a foot-end mechanism of a wheeled robot suitable for all-terrain road conditions. Background technique [0002] Robots have good application prospects in many fields such as disaster prevention and rescue, anti-terrorism rescue, etc. Among them, legged robots have great advantages in terms of carrying capacity and stability, and their research and development has been valued at home and abroad. However, legged robots However, there is a problem of slow traveling speed, while the traditional wheeled robot has a faster traveling speed in the way of wheeled traveling. [0003] Wheel-step robots can easily switch between quick response and easy obstacle surmounting functions at the same time, but when used in rescue and military applications, they often need to face complex terrain, such as deserts, gravel and some On steep hills, common wheel-step robots that directly use wheels as ...

Claims

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Application Information

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IPC IPC(8): B62D57/028
CPCB62D57/028
Inventor 徐琳张毓振张鸿洋戴训韩承冷张任旭李路航兰兆刚吴佳俊曹小宇张文斌侯振民
Owner WUHAN UNIV OF TECH
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