Wheel type lifting dual foot wheel type robot

Abstract

The present invention provides a wheel type lifting dual foot wheel type motion mechanism, comprising a chassis and rollers, and being characterized in that the rollers are embedded in the chassis, and a lifting channel is arranged in the chassis; and the rollers are connected with a lifting mechanism, and under the driving of the lifting mechanism, the rollers descend along the lifting channel in the chassis to extend out of the bottom of the chassis or ascend to the interior of the chassis, to realize the switching between the foot type and the wheel type. A robot employing the dual foot wheel type motion mechanism has high flexibility when the dual foot walking motion mode is applied, and has the advantages of high motion speed and high stability when the wheel type motion mode is applied to smooth roads, the robot can stably switch between the dual foot walking motion mode and the wheel type motion mode, the wheel type mode and the foot mode are not interfered with each other, and thus the environmental adaptability and work efficiency of the robot are greatly improved.

Description

technical field [0001] The invention relates to the technical field of robot motion mechanisms, in particular to a wheeled lifting bipedal wheeled robot. Background technique [0002] In recent years, with the development of information technology, automatic control technology, communication technology, etc., the automation and intelligence of robots have become higher and higher, and it has become possible for more and more robots to enter people's daily lives and change people's lifestyles. Ingeniously designed robots not only replace humans to complete various tasks, but also can expand human capabilities in many ways, and play an important role in human manufacturing, service, medical care, education, entertainment, military and other fields. [0003] The movement ability of a robot is an important functional indicator of a robot. At present, the common movement mechanisms of robots include footed, crawler, and wheeled. Among them, the footed has high flexibility and mob...

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Problems solved by technology

[0005] The Chinese invention patent (application number: 200510004969.7) proposes a compound mechanism of wheel, crawler and foot, but the robot structure it designs is mainly wheel and crawler, and the leg mechanism only plays an auxiliary role. Obstacle surmounting function does not have perfect movement and operation capabilities; another invention patent (application number: 201110353199.2) proposes a humanoid robot with the function of bipedal walking and wheeled moving Autonomous switching between walking and wheeled mobility is achieved, but the wheeled switching method requires the support of robotic hip joints, waist joints, arms and other mechanisms. The conversion process is cumbersome, poor in stability, and limited in scope of application.

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