Dual-purpose robot leg with wheel and foot

Abstract

The invention belongs to the technical field of robots and more particularly relates to a robot leg which uses both a wheel and a foot. A first clutch of the robot leg is connected with a first shaft and a second shaft, a first bearing inner race is connected with the first shaft, a first bearing outer race is connected with a first large wheel hub, a second bearing inner race and a third bearing inner race are connected with the second shaft, a second bearing outer race and a third bearing outer race are connected with a long connecting rod, and simultaneously a first driven sheet of the first clutch is connected with the first large wheel hub and a second driven sheet of the first clutch is connected with the long connecting rod. A second clutch is connected with a third shaft and a fourth shaft, a sixth bearing inner race is connected with the third shaft, a sixth bearing outer race is connected with a second large wheel hub, a seventh bearing inner race is connected with the fourth shaft, a seventh bearing outer race is connected with a short connecting rod, and simultaneously a first driven sheet of the second clutch is connected with the second large wheel hub and a second driven sheet of the second clutch is connected with the short connecting rod. The robot leg has compact structure, flexible movement, strong ground adaptability and quick movement speed, and is favorable for reducing energy consumption due to changing movement postures according to special landforms.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to a dual-purpose robot leg with wheels and feet. Background technique [0002] Robot legs usually have two structural modes: wheeled and jointed. Wheeled legs have the characteristics of fast moving speed, good steering, and convenient driving control; however, they have small ground area, poor wall adaptability, poor obstacle avoidance ability, and poor mobility in unstructured environments. The articulated legs generally adopt the form of two connecting rods connected in series. It has low requirements on the road surface and can cross obstacles and walk through special roads such as sandy land and swamps. However, there are disadvantages such as large movement intervals, slow speed, and difficult drive control. Therefore, there is an urgent need for a robot leg with compact structure, strong terrain adaptability, fast moving speed and simple control. In addition, the robot gene...

AI Technical Summary

Problems solved by technology

In addition, the robot generally only has one battery box. Not only is the wiring complicated, but the robot cannot return to the voyage smoothly due to battery damage or other work due to excessive power consumption when the robot is out working. If the modular design concept can be adopted, the robot leg module can be designed to have independent drive capabilities. , which can not only ensure the movement of the robot, but also perform rapid replacement

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