Low-energy-consumption six-foot wheel leg robot based on elastic belts

By combining wheel-leg modules and ordinary leg modules, and utilizing elastic belts and linkages, the problems of high cost, high energy consumption, large rotational inertia, and limited mobility in complex terrain of multi-legged robots are solved. This enables low-energy, low-cost multi-legged robot movement and improves terrain adaptability and endurance.

CN121822677APending Publication Date: 2026-04-10SOUTH CHINA UNIV OF TECH
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Patent Information

Application Number
CN202511915678.7
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-12-18
Publication Date
2026-04-10

AI Technical Summary

Technical Problem

Existing multi-legged robots suffer from problems such as high cost, high energy consumption, large rotational inertia, limited range, and limited ability to pass through complex terrain.

Method used

It adopts a combination design of wheel-leg modules and ordinary leg modules, utilizes the pre-tensioned connection of elastic belts and linkage transmission, integrates drive components, optimizes the connection relationship of mechanical components, realizes flexible switching between wheeled movement and gait movement, reduces energy consumption, and improves terrain adaptability through low center of gravity structure.

Benefits of technology

It enables low-energy, low-cost multi-legged robot movement, improves the passability and endurance in complex terrains, reduces drive energy consumption, and enhances the robot's movement efficiency and stability.

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Abstract

The invention discloses a low-energy-consumption six-foot wheel-leg robot based on an elastic belt. The low-energy-consumption six-foot wheel-leg robot comprises wheel-leg modules arranged at the corners of a body module and common leg modules arranged on the two sides of the body module. A first section of the wheel-leg module is movably connected with a second section of the wheel-leg module, the second section of the wheel-leg module is movably connected with a third section of the wheel-leg module through a wheel-leg joint connecting module, and the third section of the wheel-leg module is movably connected with a wheel driving module; a first common leg section module in the common leg module is movably connected with a second common leg section module, the second common leg section module is movably connected with a third common leg section module, and the third common leg section module is connected with a foot pad; the wheel leg modules and the common leg modules are provided with elastic belts to form pre-tightening connection. Flexible switching between wheel type movement and gait movement can be achieved, the adaptability to complex terrains is improved, the joint load is shared by means of the deformation characteristic of the elastic band, and the burden of a steering engine is relieved.
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