A wheel-leg mechanism and a wheel-leg vehicle using the wheel-leg mechanism
A technology of wheel legs and hub motors, which is applied in the field of robots, can solve problems such as rollover, overturning, insufficient manifestation of the characteristics of high mobility of wheels, and slow speed of robots, so as to reduce weight, improve vehicle braking performance, and use space. big effect
Active Publication Date: 2022-06-07
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology
[0004] The existing wheel-legged vehicle structure robots usually have a slow speed, and the high maneuverability of the wheel type is not fully reflected. As a result, it is difficult to maintain stability in the face of bumpy road impacts at high speeds, and rollovers and overturning will occur
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[0025] The following will be combined with the accompanying drawings in the embodiments of the present invention, the technical solution in the embodiments of the present invention will be described clearly and completely, it is clear that the embodiments described are only a part of the embodiment of the present invention, not all embodiments. Based on embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative work, are within the scope of protection of the present invention.
[0026] Object of the present invention is to provide a wheel leg mechanism and the application of the wheel leg mechanism of the wheel leg type vehicle, to solve the problems of the above prior art, in the high-speed state, in the face of the impact of the bumpy road surface can remain stable, will not occur rollover, overturning; And the use of electric brake and mechanical brake hybrid braking, can effectively improve the braking per...
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The invention discloses a wheel-leg mechanism, which includes a thigh, the upper end of the thigh is movably arranged in a thigh motor mounting seat, and the upper end of the thigh is transmission-connected with a thigh motor, and the thigh motor is fixedly arranged in a thigh motor mounting seat. Side; the side of the thigh away from the thigh motor is provided with a shank motor, the shank motor is connected to a suspension damping system, the shank motor is connected to a shank through a synchronous belt transmission, and the shank is movably connected to the end of the thigh A wheel is movably installed at the end of the shank, and the wheel transmission is connected with a hub motor; the brake system is arranged at the wheel. The invention also discloses a wheel-leg vehicle with the above-mentioned wheel-leg mechanism. By adopting the wheel-leg vehicle provided by the invention, the wheel-leg vehicle can keep stable in the face of the impact of the bumpy road at high speed, and will not roll over or overturn; And the hybrid braking of electric braking and mechanical braking can effectively improve the braking performance of the vehicle.
Description
Technical field [0001] The present invention relates to the field of robotics, in particular to a wheel leg mechanism and a wheel leg type vehicle applied to the wheel leg mechanism. Background [0002] With the development of science and technology and society, robots are more widely used in occasions that can replace humans, such as military reconnaissance, rescue and rescue, and detection of dangerous places. The complex, unknown and changeable non-structural environment puts forward high requirements for the robot's ability to cross obstacles, and the urgency of the task requires that the robot should have the ability to move quickly. [0003] At present, the common robot mobile mechanisms are wheeled, leg and compound, etc., the wheel speed is fast, but the adaptability to the terrain is not strong; The leg type has good maneuverability, but is slower. As a combination of a leg robot and a wheeled platform, the wheeled-leg vehicle combines the speed of the wheeled type and t...
Claims
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IPC IPC(8): B62D57/028
CPCB62D57/028B62D57/024B62D61/00
Inventor 任晓磊刘辉刘志伟龚岩松韩全福韩子勇
Owner BEIJING INSTITUTE OF TECHNOLOGYGY