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Novel wheel foot robot capable of moving in all-around mode

An omnidirectional mobile and robotic technology, applied in the field of wheel-footed robots, can solve the problems of large number of joint brakes, complex leg structure, and high cost, and achieve the effect of simple structure, no drive unit, and low cost

Inactive Publication Date: 2019-11-15
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problems of complex leg structure, large number of joint brakes, complex control and high cost in existing wheel-footed robots, the present invention provides a wheel-footed robot that can move in all directions and is convenient for adjusting the height of the center of mass

Method used

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  • Novel wheel foot robot capable of moving in all-around mode

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Embodiment 1

[0020] Such as figure 1 As shown, a new wheel-footed robot that can move in all directions includes a body 1. The bottom of the body 1 is connected with a hip joint assembly. The left and right sides of the hip joint assembly are respectively connected with a left thigh assembly and a right thigh assembly. The thigh assembly is hinged with a left lower leg assembly through the left knee joint assembly, and the right thigh assembly is hinged with a right lower leg assembly through the right knee joint assembly.

[0021] In this embodiment, the hip joint assembly includes a U-shaped motor mount 2, a first motor 3, a second motor 4, a harmonic reducer 6, and a hip joint synchronous input pulley 5, and the motor mount 2 is fixedly connected to the body 1. The bottom of the bottom, the first motor 3 and the second motor 4 are installed in the motor holder 2, the side walls of the left and right sides of the motor holder 2 are provided with through output ports, the output port of t...

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Abstract

The invention discloses a novel wheel foot robot capable of moving in an all-around mode, and belongs to the technical field of robots. A joint brake is reduced through a joint coupling way, so that the problem that an existing wheel foot robot is complex in leg structure design is solved, and control difficulty is reduced. The novel wheel foot robot comprises a body, wherein the bottom of the body is connected with a hip joint assembly; left and right sides of the hip joint assembly are separately connected with a left thigh assembly and a right thigh assembly; the left thigh assembly is hinged with a left shrank assembly through a left knee joint assembly; and the right thigh assembly is hinged with a right shank assembly through a right knee joint assembly. According to the wheel foot robot in the prior art, the hip joint is coupled with knee joints, so that drive units of the knee joints are cancelled, and therefore, the novel wheel foot robot is simple and compact in structure, and basic functions of the wheel foot robot are also generally integrated.

Description

technical field [0001] The invention relates to the technical field of robots, and more specifically relates to a novel wheel-footed robot capable of omnidirectional movement. Background technique [0002] As an important way to solve the global labor shortage problem, robots have been widely used in production and life. With the deepening of human exploration of unknown spaces such as the ocean and the universe, numerous application standards and complex working conditions have put forward higher requirements for robots, and it is no longer possible for a single-function robot to adapt to changing work requirements. Robots came into being. In recent years, the development of humanoid robots has gradually become the focus of the robot industry, and the lower limbs are important executive components of humanoid robot systems, and their working performance directly affects the ability of humanoid robot systems to perform various tasks in complex environments. dexterity. At ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/028
CPCB62D57/028
Inventor 熊静琪何鑫成佳余海彪孙锐张小玲
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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