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Multi-motion-mode wheel-leg separation type quadruped robot

A quadruped robot, multi-motion technology, applied in the field of robots, can solve problems such as poor carrying capacity and complex mechanical structure of robots, and achieve the effects of large carrying capacity, improved work adaptability, and easy processing and manufacturing.

Active Publication Date: 2021-08-13
TAIYUAN UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the carrying capacity is poor, and the overall mechanical structure of the robot is relatively complicated.

Method used

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  • Multi-motion-mode wheel-leg separation type quadruped robot
  • Multi-motion-mode wheel-leg separation type quadruped robot
  • Multi-motion-mode wheel-leg separation type quadruped robot

Examples

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Embodiment Construction

[0032] In order to further illustrate the technical solutions of the present invention, the present invention will be further described below through examples.

[0033] like Figure 1 to Figure 12 , multi-motion mode wheel-leg separation quadruped robot, including body 1, outriggers 2, wheel lifting mechanism 3, front wheel module 4, rear wheel module 5, control system 6, battery energy storage module 7, visual sensor 8 , electromagnetic adsorption mechanism 9 and spring energy storage mechanism 10;

[0034] The fuselage 1 includes two vehicle frames 101, and a plurality of connecting shafts 102 are arranged between the two vehicle frames 101 to realize the connection between the front and rear two vehicle frames 101;

[0035]There are four outriggers 2, which are located on the left and right sides of the two frames 101, respectively. The outriggers 2 include an arc motor frame 201, a thigh rod 202, a calf rod 203, an auxiliary rotation long rod 204, and an auxiliary rotatio...

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Abstract

The invention belongs to the field of robots, and particularly relates to a multi-motion-mode wheel-leg separation type quadruped robot which comprises a robot body, supporting legs, a wheel lifting mechanism, a front wheel module, a rear wheel module, a control system, a battery energy storage module and a visual sensor. The machine body comprises two vehicle frames, and a plurality of connecting shafts are arranged between the two vehicle frames so that the front vehicle frame and the rear vehicle frame can be connected. The four supporting legs are located on the left side and the right side of the two vehicle frames respectively. According to the robot, the wheels and the legs are independently mounted on the vehicle body, so that the robot has the speed characteristic of a wheeled robot and the stability characteristic of a legged robot, is simple in structure, easy to process and manufacture and simple in wheel-leg switching, and has relatively high bearing capacity, the obstacle crossing capacity of the robot is effectively enhanced, and the utilization rate of energy is relatively high; and the working adaptability of the robot is greatly improved.

Description

technical field [0001] The invention belongs to the field of robots, and in particular relates to a multi-motion mode wheel-leg-separated quadruped robot. Background technique [0002] In today's world, the research and development level and design level of robots have become another important indicator to measure a country's scientific and technological level. As a kind of robot, after years of development, mobile robots have gradually participated in industrial and agricultural production and service industries. [0003] In the field of quadruped robot research, wheel-foot hybrid robot is a hot research topic in this field. Wheeled robots have the advantage of being able to move quickly on flat ground, but the disadvantage is that they have poor ability to overcome obstacles and are not suitable for working in complex terrain. The legged robot has an animal gait motion mode, and has the ability to cross obstacles in the true sense. It can work in complex terrain such as ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/028
CPCB62D57/028
Inventor 张金柱李淼刘宏飞王涛张彦杰熊晓燕袁瑞临
Owner TAIYUAN UNIV OF TECH
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