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Metamorphic wheel foot type quadruped robot

A quadruped robot and wheel foot technology, applied in the field of robotics, can solve the problems affecting the stability of the overall structure, the outriggers cannot be used for walking, and increase the manufacturing cost, so as to improve the stability of the fuselage, good terrain adaptability, and use convenient effect

Active Publication Date: 2021-05-28
HEFEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the need to increase the number of driving motors in this way, the manufacturing cost is increased, and there is also redundancy in the structure, which affects the stability of the overall structure
The traditional four-legged robot with variable cells and wheels is simply superimposed on the foot and the wheel, which has a complex structure and is inconvenient to use.
[0003] The comparative document with the publication number CN107662662A discloses a four-wheeled robot with outriggers set on the wheels, and the outriggers are used to support the robot, but the outriggers cannot be used to walk on bumpy ground

Method used

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  • Metamorphic wheel foot type quadruped robot
  • Metamorphic wheel foot type quadruped robot
  • Metamorphic wheel foot type quadruped robot

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Embodiment Construction

[0035] In order to facilitate those skilled in the art to understand the technical solution of the present invention, the technical solution of the present invention will be further described in conjunction with the accompanying drawings.

[0036] The terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present application, "plurality" means two or more, unless otherwise specifically defined.

[0037] refer to figure 1 , this embodiment discloses a quadruped robot with variable cell wheels, which includes a plurality of vertical plates 1 arranged side by side along the length direction of the quadruped robot with variable cells wheel, a first motor 2, and four sets of caster wheel co...

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Abstract

The invention discloses a metamorphic wheel foot type quadruped robot which comprises a robot body and foot wheel conversion assemblies distributed at the four corners of the robot body. The foot wheel conversion assembly comprises a first arc-shaped part, a second arc-shaped part, a third arc-shaped rod and a fourth arc-shaped rod; the first arc-shaped part, the second arc-shaped part, the third arc-shaped rod and the fourth arc-shaped rod form a complete annular wheel type structure; the first arc-shaped part and the second arc-shaped part rotate around the center of the annular wheel type structure; the first arc-shaped part and the second arc-shaped part drive the third arc-shaped rod and the fourth arc-shaped rod with the two adjacent ends hinged to each other through the first hinge rod and the second hinge rod to move towards the center away from or close to the annular wheel type structure. Switching between foot movement and wheel movement is realized by freely switchingfoot type and hte wheel type, so that the robot has better terrain adaptability and movement flexibility; and moreover, a wheel type structure and a foot type structure share one set of structure, so that the simplification degree of the structure is improved, and the use is convenient.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a variable-cell wheel-legged quadruped robot. Background technique [0002] At present, common robots are mostly used in wheeled robots and legged robots. Wheeled robots are simple in structure, low in cost, and mature in technology, so they are widely used in many fields in production and life. The legged robot has flexible movement, good stability, and strong terrain adaptability, and has good application prospects in the fields of emergency rescue, disaster relief, exploration, and military affairs. In recent years, due to the superiority of its compound movement mode, the wheel-foot compound robot has gradually become a product with practical requirements and needs to be further improved and improved. The existing wheel-foot quadruped robot is based on the structure of the quadruped robot, and an additional motor is added to the legs to drive an additional wheel structure to...

Claims

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Application Information

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IPC IPC(8): B62D57/032B62D57/02
CPCB62D57/032B62D57/02
Inventor 孙浩高湘泉李裕军乔梁周彦易玲
Owner HEFEI UNIV OF TECH
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