Wheel-leg hybrid hexapod robot

Abstract

The invention provides a wheel-leg hybrid hexapod robot. The robot comprises a vehicle frame, a brake system and six wheel sets; the brake system comprises a motor, a brake movement mechanism and a brake pump; the brake movement mechanism comprises a fixed frame and a transmission mechanism; the transmission mechanism comprises a screw rod transmission mechanism and a transmission guide mechanism;each wheel set comprises a wheel train, a wheel train steering system, a gait motion system and an H rod system; each wheel train steering system comprises a servo motor, a fixing seat, a fastening plate, a first short shaft, a coupler, a second short shaft, an upper bow plate, a lower bow plate and a bearing seat; each gait motion system comprises a gait adjusting structure and a buffering structure; each gait adjusting structure comprises a push rod motor, a rotating connecting plate, an upper rotating plate, a lower rotating plate, a push rod support, a rotating shaft, a bearing seat and afixing plate; and each buffering structure comprises a supporting frame, a damping fork, an upper connector, a lower connector, a buffering connector, an upper connecting rod, an H connecting rod, adamper and a limiting strip. According to the invention, the robot can be used for highly difficult operation such as investigation and rescue.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a wheel-leg hybrid hexapod robot, which can be used for difficult operations such as investigation and rescue. Background technique [0002] The movement modes of hexapod robots are mostly wheeled and legged. Wheeled hexapods move fast and have high energy utilization, but their ability to overcome obstacles is poor. Legged hexapods have strong ability to overcome obstacles and strong terrain adaptability, but the energy Low utilization. The wheel-leg hybrid hexapod robot has the advantages of both wheel and leg, and has strong terrain adaptability and obstacle-surmounting ability, high energy utilization rate and stability, fast moving speed and responsiveness, and has advantages and disadvantages at the same time. complement each other and make up for their respective deficiencies. However, most of the existing wheel-leg combined robots use articulated mechanical l...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to overcome the deficiencies in the above-mentioned prior art, and propose a wheel-leg hybrid hexapod robot, which is used to solve the problem of weak load-bearing capacity of the wheel-leg mechanism of the hexapod robot, complicated wheel-leg switching, and single-leg swing range. minor technical issues

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