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Novel metamorphic eight-rod foldable wheel-leg robot

A wheel-legged robot, robot technology, applied in the direction of wheels, motor vehicles, vehicle parts, etc., can solve problems such as no folding research

Active Publication Date: 2021-11-05
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] At present, the existing metamorphic robots on the market mainly imitate the movement modes of various animals by changing the configuration of the torso. Research on exhibition

Method used

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  • Novel metamorphic eight-rod foldable wheel-leg robot
  • Novel metamorphic eight-rod foldable wheel-leg robot
  • Novel metamorphic eight-rod foldable wheel-leg robot

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Embodiment Construction

[0037] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but the following embodiments in no way limit the present invention.

[0038] Such as figure 1 and image 3 As shown, a novel metamorphic eight-bar foldable wheel-legged robot proposed by the present invention includes a torso device, a wheel-leg device, a control module 11 and two battery modules 32 .

[0039] Such as figure 1 As shown, the torso device includes three parts: a head structure, a waist structure and a tail structure, wherein the waist structure includes two side parts symmetrically distributed left and right with respect to the head structure and the tail structure.

[0040] The following describes in detail the composition of each part of the torso device and the connection relationship between them:

[0041] Such as figure 1 As shown, the head structure includes two head connecting plates 12 and a head driving steering gear ...

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Abstract

The invention discloses a novel metamorphic eight-rod foldable wheel-leg robot. The robot comprises a trunk device, a wheel-leg device, a control module and two battery modules. The trunk device comprises a head structure, a waist structure and a tail structure, wherein the waist structure comprises two side parts which are distributed in bilateral symmetry about the head structure and the tail structure. According to the robot, a variable-degree-of-freedom variable-topology structure can be achieved through changes of the trunk structure, conversion of three configurations can be achieved, and the robot can adapt to work tasks in various space environments. In the first configuration, front-back relative translation in a horizontal plane can be realized, and the waist part can be twisted; in the second configuration, relative translation in a vertical plane can be realized, and the waist part can pitch; and in the third configuration, the head can horizontally move, the wheel track can be adjusted, and the waist can be contracted. The robot has the advantages of a legged robot and a wheeled robot at the same time, and not only can stably advance in rugged terrain, but also can quickly advance in flat road conditions.

Description

technical field [0001] The invention relates to a novel metamorphic eight-bar foldable wheel-leg robot, which is a wheel-leg robot capable of realizing self-configuration changes under different space environments and road conditions. Background technique [0002] After the design is completed, the structure of the robot is fixed, the degree of freedom of the mechanism is fixed, and the shape is single. Traditional wheel-legged robots have only one configuration and the torso is mostly a rigid structure, which cannot change the degree of freedom and can only complete simple movements. Today, with the rapid development of science and technology, people's needs for robots are more diversified and complex. Therefore, the design of robots also needs to consider the diversity of functions. Robots with a single configuration can no longer meet market needs, but are limited by the design of the torso structure. There are very few studies on robots with variable degrees of freedom ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/028B60B19/12
CPCB62D57/028B60B19/12
Inventor 戴建生李咪王瑞钦魏巍白瑞
Owner TIANJIN UNIV
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