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A wheel-foot compound biped robot

A biped robot and compound technology, applied in the field of robotics, can solve the problems of fast speed, limited passing capacity, and low energy consumption, and achieve the effects of reducing energy consumption, reducing the inertia of the feet, and improving the movement speed

Active Publication Date: 2022-05-13
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This configuration has the characteristics of high speed and low energy consumption, but the existence of the wheeled mechanism still requires a continuous area in the operating environment that allows wheeled traffic, which limits its ability to pass through unstructured terrain

Method used

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  • A wheel-foot compound biped robot
  • A wheel-foot compound biped robot
  • A wheel-foot compound biped robot

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Embodiment Construction

[0043] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0044] Embodiments of the present invention provide a wheel-foot composite biped robot, such as figure 2 As shown, the biped robot includes: a fuselage 9 and two legs symmetrically installed on both sides of the fuselage 9. In order to clearly see the leg structure of the robot, only the structure of one leg is shown in the accompanying drawings schematic diagram.

[0045] Such as figure 1 As shown, the fuselage 9 is provided with a power wheel bevel gear 1, a leg longitudinal motor 2, a leg forward motor 3 and a drive motor 22, and the output shaft of the drive motor 22 is fixedly connected with the power wheel bevel gear 1. Compared with the traditional robot where the motor is placed at the knee joint, the present invention arranges the motor on the body of the biped robot by adjusting the position of the motor, which can allow the motor to wheel com...

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Abstract

The invention discloses a wheel-foot composite type biped robot, which integrates foot end kits and wheeled parts into the legs, and can realize free switching between the footed motion state and the wheeled motion state in different environments; at the same time, the wheeled The components are installed on the hinge shafts of the thigh and calf, and the motor is placed on the fuselage and driven through the connecting rod system to reduce the inertia of the foot, increase the speed of movement, and reduce energy consumption. When the above-mentioned robot is in the wheeled motion state, the leg structure of the robot is a right-angled triangle structure. The spring damping element composed of a shock-absorbing spring and a damping rod can achieve buffering and shock absorption, and reduce the rod-directed impact force on the fuselage and the body during travel. The impact of the motor can absorb and store energy at the same time, and release energy in a timely manner during the running process to improve energy utilization.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a wheel-foot composite biped robot. Background technique [0002] A biped walking robot that walks upright has good degrees of freedom, flexible, free and stable movements. A biped robot is a bionic robot that can realize bipedal walking and related actions of the robot. In future production and life, a humanoid bipedal walking robot can help humans solve many problems such as carrying objects, emergency rescue, etc. Hazardous or heavy work. Although biped robots have proven to be applicable to many aspects of human life, their slow movement in structured terrain and high energy consumption remain obstacles to their more critical roles in society. [0003] Wheeled robot is a relatively traditional mobile robot configuration, with simple dynamic characteristics, high stability, and high energy efficiency ratio, and has a wide range of applications in today's society. Compared wi...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/028
CPCB62D57/028
Inventor 钱义肇宋文杰孙双园冯思源刘洧铖
Owner BEIJING INSTITUTE OF TECHNOLOGYGY