High-flexibility seven-degree-of-freedom wheel-foot robot leg structure

Abstract

The invention provides a high-flexibility seven-degree-of-freedom wheel-foot robot leg structure which comprises a hip joint module, a thigh, a knee joint, a shank, an ankle joint module and a wheel type movement module which are sequentially connected from top to bottom, under hybrid driving of a hydraulic driving unit and a servo motor, the hip joint can achieve yawing, yawing and pitching movement, and the leg structure can be used as a leg structure of a seven-degree-of-freedom wheel-foot robot. The knee joint can achieve pitching motion, the ankle joint can achieve pitching motion and turnover motion of the wheel along the axis of the connecting bearing, and the wheel type motion module can achieve rotation motion of the wheel along the axis. The leg structure of the wheel-foot robot has seven degrees of freedom, the overall flexibility is higher, the movement speed is higher, the adaptability to complex environments is higher, movement is more stable, the power-to-weight ratio is higher, the overall weight and size of the robot are smaller, and the practicability is higher.

Description

technical field [0001] The invention relates to the field of robots, in particular to a highly flexible seven-degree-of-freedom wheeled robot leg structure. Background technique [0002] A robot is a machine device that performs work automatically. It can assist or even replace humans to complete dangerous, heavy, and complicated tasks, improve work efficiency and quality, serve human life, and expand or extend the scope of human activities and capabilities. In industry, medicine, agriculture, There are a wide range of applications in the service industry, construction industry and even military fields. With the rapid development of computer network technology and the improvement of mechanical manufacturing level, automation and intelligence have become the theme of the new generation of industrial revolution. Therefore, robot technology has developed rapidly in recent years. [0003] Mobile robots are classified according to the form of motion and can be divided into wheel...

AI Technical Summary

Problems solved by technology

[0004] But existing wheel-footed robots still have the following limitations:

[0005] (1) Most of the existing wheel-footed robots are driven by motors, which are relatively low in power and not very practical; (2) The existing wheel-footed robots have limited degrees of freedom and insufficient flexibility, which limits the development of more complex wheel-footed robots. (3) Various complex environments have put forward higher requirements for the motion speed and high-speed stability of existing wheel-footed robots; based on this, a design with higher leg flexibility and The leg structure of the wheel-footed robot with stronger adaptability to complex environments, higher power-to-weight ratio, faster movement speed, and stronger work stability is an urgent problem in this field.

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