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

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 ...

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 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 the sole mechanism cannot cope perfectly. Therefore, the wheel-step switching device can change the sole structure to have excellent terrain adaptability when facing complex terrain. As well as the grip, switching to the wheeled foot mechanism to accelerate when it needs to move fast is a problem that needs to be solved in the field of robotics

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