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Wheel-leg hybrid quadruped robot

A quadruped robot and wheel-leg technology, applied in the field of robotics, can solve the problems of robot rigidity, carrying capacity and movement flexibility constraints, and achieve the goals of solving energy supply and battery life, improving carrying capacity, reducing energy consumption and overall load Effect

Active Publication Date: 2021-10-26
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Among the wheel-leg hybrid robots at this stage, quadruped robots are the most common, but because most of their leg structures adopt a series structure, they are restricted to varying degrees in terms of robot rigidity, load-carrying capacity, and movement flexibility.

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0031] A wheel-leg hybrid quadruped robot, comprising an installation platform 1, a steering mechanism 4 and 4 mechanical legs 5;

[0032] The mechanical legs 5 include 2 front legs and 2 rear legs, and the 2 front legs are installed on the front part of the lower end of the installation platform 1 through the steering mechanism 4; the 2 rear legs are fixedly arranged on the rear part of the lower end of the installation platform 1 ;

[0033] The steering mechanism 4 includes a steering gear 4-1 and a U-shaped connecting rod mechanism, and the U-shaped connecting rod mechanism includes a first long rod 4-2, a second long rod 4-3, a first short rod 4-4, a first short rod 4-4, and a second long rod 4-3. Two short rods 4-5 and an intermediate rod 4-6, the two ends of the first long rod 4-2 are respectively hinged with the first short rod 4-4 and the second short rod 4-5, symmetrically , the two ends of the second long rod 4-3 are respectively hinged to the first short rod 4-4 an...

Embodiment 2

[0040] On the basis of the above-mentioned embodiment 1, to meet the needs of working in the field, a solar panel is installed on the installation platform, and the solar panel is connected to the host to provide power for it, thereby improving power supply and use time.

Embodiment 3

[0042] On the basis of the above-mentioned embodiment 1 or 2, a separate drive motor is provided beside each of the rollers, so that the device has another working mode, that is, when the mechanical legs are not performing actions, the motors next to the rollers can be directly driven independently. The driving motor executes the rotation of the rollers, so that the device advances depending on the rotation of the rollers.

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Abstract

The invention discloses a wheel-leg hybrid quadruped robot which comprises a mounting platform, a steering mechanism and four mechanical legs. The mechanical legs comprise two front legs and two rear legs; the two front legs are mounted at the front part of the lower end of the mounting platform through a steering mechanism; the two rear legs are fixedly arranged at the rear part of the lower end of the mounting platform; the wheel-leg hybrid quadruped robot has the following advantages: 1, a wheel structure and a leg structure are ingeniously combined; 2, leg structure design of a parallel mechanism is applied; 3, a traditional spatial parallel mechanism is simplified; 4, the number of driving parts is relatively small; 5, a steering mechanism is autonomously designed; and 6, a solar cell panel is carried outside the robot.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a wheel-leg hybrid quadruped robot. Background technique [0002] Footed robots have the characteristics of good motion performance and strong environmental adaptability among the bionic robots at this stage. Compared with legged robots, wheeled robots have the advantages of fast movement on flat ground and simple control. The wheel-leg hybrid robot cleverly combines the motion advantages of the first two robots, so it can be applied to high-risk and high-complexity fields such as earthquake relief, unmanned transportation, geological exploration, and signal detection with better performance indicators. [0003] Among the wheel-leg hybrid robots at this stage, quadruped robots are the most common, but because most of their leg structures adopt a series structure, they are restricted to varying degrees in terms of robot stiffness, load-carrying capacity, and movement f...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/028
CPCB62D57/028
Inventor 戴建生张昊临庄哲明魏巍李瑱杜晓龙常乐宋智斌
Owner TIANJIN UNIV
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