Wheel-leg type all-terrain active/passive attitude adjustment robot

Abstract

A wheel-leg type all-terrain active / passive attitude adjustment robot comprises a robot body, a radar system arranged on the robot body and four robot single legs symmetrically arranged on the front portion, the rear portion, the left portion and the right portion of the robot body. Each robot single leg comprises an actuator, a tripod connected with the actuator, a damping spring connected with the tripod, a double-wishbone suspension connected with the damping spring, a steering motor connected with the double-wishbone suspension, a wheel leg connected with the steering motor and a drive wheel connected with the wheel leg and provided with a hub motor. The lower angle of each tripod is connected with the robot body, the two upper angles of each tripod are connected with the correspondingactuator and the corresponding damping spring, each double-wishbone suspension comprises an upper suspension control arm and a lower suspension control arm, one end of each upper suspension control arm and one end of the corresponding lower suspension control arm are hinged to the side face of the robot body, the other ends of each upper suspension control arm and the corresponding lower suspension control arm are hinged to the corresponding steering motor, and each damping spring is connected with the corresponding upper suspension control arm. The robot can steer at 360 degrees without a dead angle, and an active / passive attitude adjustment mode of the robot is switched.

Description

technical field [0001] The invention relates to a wheel-leg type all-terrain mobile robot, in particular to a wheel-leg type all-terrain active / passive posture adjustment robot with excellent dynamic ride comfort. technical background [0002] Legged robots have good obstacle-surmounting performance, but low energy utilization; wheeled robots have good maneuverability, but poor environmental adaptability. The wheel-legged all-terrain mobile robot combines the advantages of both, and has the advantages of strong adaptability and good maneuverability. It has broad application prospects in military investigation, resource exploration, aerospace and other fields. Typical wheel-legged robots include ATHLETE in the United States, Roller-Walker, ALDURO, Halluc-II in Japan, and LegVan in Poland. Traditional wheel-legged robots are mostly equipped with motors at the joints, and the focus of research is mainly on active attitude adjustment and obstacle-surpassing performance. In rec...

AI Technical Summary

Problems solved by technology

At present, the research on the ride comfort of automobiles has been quite complete, but the ride comfort research in the field of robots is still mainly focused on the stability of the car body and its joints. When designing robots, the ride comfort is often ignored.

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