Multi-Motion Mode Wheel-leg Separated Quadruped Robot

A quadruped robot, multi-motion technology, applied in the field of robots, can solve the problems of 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: 2022-03-11
TAIYUAN UNIV OF TECH
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  • Summary
  • 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 Separated Quadruped Robot
  • Multi-Motion Mode Wheel-leg Separated Quadruped Robot
  • Multi-Motion Mode Wheel-leg Separated Quadruped Robot

Examples

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Embodiment Construction

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

[0033] Such as Figures 1 to 12 Multi-modal motion wheel Discrete quadruped robot leg, includes a body 1, leg 2, wheel lifting mechanism 3, a front wheel module 4, the rear module 5, control system 6, 7 of the battery energy storage module, the visual sensor 8 , an electromagnetic suction means 9 and the spring energy storage means 10;

[0034] The body 1 includes a frame 101, the frame 101 has two, between the two frames 101 connecting shaft 102 provided with a plurality root, in order to achieve a connection between the two front frame 101;

[0035]There are four of the legs 2, which are located on both sides of the two frames 101, including the arcuate motor frame 201, a thigh lever 202, a calf rod 203, auxiliary rotation long rod 204, auxiliary rotation short The rod 205, the No. 1 drive motor 206, the second...

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Abstract

The invention belongs to the field of robots, and in particular relates to a quadruped robot with separated wheels and legs in multiple motion modes, including a fuselage, outriggers, 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 fuselage includes a vehicle frame, and there are two vehicle frames, and a plurality of connecting shafts are arranged between the two vehicle frames to realize the connection between the front and rear two vehicle frames; the legs have four two, respectively located on the left and right sides of the two vehicle frames; in the present invention, the wheels and legs are independently installed on the vehicle body, which not only has the speed characteristics of a wheeled robot, but also has the stability characteristics of a legged robot, and is simple in structure and easy to manufacture. , the wheels and legs are easy to switch, and have a large carrying capacity. The obstacle-crossing ability of the robot is effectively enhanced, and the energy utilization rate is relatively high, which greatly improves the work adaptability of the robot.

Description

Technical field [0001] The present invention belongs to the field of robotics, in particular, to multi-modal motion wheel leg disconnect quadruped robot. Background technique [0002] In today's world, the level of R & D and design level robot has become another important indicator of a country's level of technology. Mobile robot as a robot, after years of development, has gradually involved in industrial and agricultural production and the service sector. [0003] In the field of research quadruped robot, round foot hybrid robot is the focus of research in this field. Wheeled robot has the advantage on the flat ground fast moving, but the drawback is a poor ability of the barrier, are not suitable for working in complex terrain. Legged robot animal gait mode, with the ability to cross the barrier in the true sense, mountains, sand and other complex terrain work, but the drawback is the use of low energy, low speed of movement; therefore, combined with leg and wheel type of advan...

Claims

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Application Information

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Patent Type & Authority Patents(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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