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A wheel-leg hybrid quadruped robot

A quadruped robot and wheel-legged technology, applied in the field of robotics, can solve the problems of robot stiffness, bearing capacity and motion flexibility constraints, and achieve the effect of solving energy supply and endurance problems, improving motion stability, and realizing power system guarantee.

Active Publication Date: 2022-04-19
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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  • A wheel-leg hybrid quadruped robot
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  • A wheel-leg hybrid quadruped robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0031] A wheel-legged hybrid quadruped robot, including mounting platform 1, steering mechanism 4 and 4 mechanical legs5;

[0032] The mechanical leg 5 comprises 2 front legs and 2 rear legs, 2 front legs are installed in the front of the lower end of the mounting platform 1 through the steering mechanism 4;

[0033] The steering mechanism 4 includes a steering steering steering gear 4-1 and a Japanese zigzag linkage mechanism, the Japanese zigzag linkage mechanism comprises a first long pole 4-2, a second long bar 4-3, a first short bar 4-4, a second short bar 4-5 and an intermediate bar 4-6, the first long pole 4-2 ends are hinged with the first short bar 4-4, the second short bar 4-5 phase articulation, in contrast, the second long pole 4-3 ends are hinged with the first short bar 4-4, the second short pole 4-5 phase articulation, The intermediate rod 4-6 at both ends are articulated at the midpoint of the first long rod 4-2, the second long rod 4-3, the steering steering servo...

Embodiment 2

[0040] On the basis of the above example 1, to meet the needs of work in the field, the solar panel is installed on the installation platform, the solar panel is connected to the host, to power it, improve the power supply and the use time.

Embodiment 3

[0042] On the basis of the above embodiments 1 or 2, a separate drive motor is provided next to each of the rollers, so that the apparatus has another mode of operation, that is, when the mechanical leg does not perform the action, the drive motor next to the roller can be driven directly alone to perform the rotation of the roller, so that the device relies on the rotation of the roller to travel.

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Abstract

The invention discloses a wheel-leg hybrid quadruped robot, which includes an installation platform, a steering mechanism and 4 mechanical legs; the mechanical legs include 2 front legs and 2 rear legs, and the 2 front legs are installed on the The front part of the lower end of the above-mentioned installation platform; the two rear legs are fixedly arranged at the rear part of the lower end of the installation platform; the advantages of the patent of the present invention are: 1. Ingenious combination of the wheel structure and the leg structure; 2. The legs of the parallel mechanism Structural design; 3. Simplify the traditional space parallel mechanism; 4. Relatively few driving components; 5. Self-designed steering mechanism; 6. The robot is equipped with solar panels.

Description

Technical field [0001] The present invention belongs to the field of robotics, specifically relates to a wheel-legged hybrid quadruped robot. Background [0002] Foot robots have the characteristics of good kinematic performance and strong environmental adaptability among the many bionic robots at this stage. Compared with the same foot robot, the wheeled robot has the advantages of fast movement speed and simple control on the flat ground. The wheel-legged hybrid robot cleverly combines the movement 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, signal detection and so on with better performance indicators. [0003] At this stage, in the wheel-leg hybrid robot, especially the four-legged robot is the most common, but because its leg structure is mostly in the form of tandem structure, it is subject to different degrees of restrictions in robot stiffness,...

Claims

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Application Information

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Patent Type & Authority Patents(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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