Wheel-foot type robot leg system with damping function

Abstract

The invention discloses a wheel-foot type robot leg system with a damping function. The wheel-foot type robot leg system comprises a hip joint mechanism, a thigh mechanism, a shank mechanism, a springdamping system and a wheel-foot mechanism; the hip joint mechanism is used for rotating relative to a robot main body structure; the thigh mechanism is used for rotating relative to the hip joint mechanism; the shank mechanism is used for rotating relative to the thigh mechanism; the spring damping system is used for damping; and the wheel-foot mechanism is used for driving the robot main body structure, the hip joint mechanism, the thigh mechanism, the shank mechanism and the spring damping system to do wheel-type movement along with the wheel-foot mechanism. According to the wheel-foot typerobot leg system, wheel type movement and foot type movement can be achieved, compared with a traditional wheel-foot combined type robot, the robot is simpler in structure, the wheel type movement and the foot type movement can be achieved only by adding the wheel-foot mechanism to the foot end of a foot type movement robot, a wheel type movement mechanism does not need to be independently designed at other positions of the robot, and the overall weight of the robot is effectively reduced.

Description

technical field [0001] The invention relates to a wheel-foot robot leg system with a shock absorbing function, belonging to the technical field of robots. Background technique [0002] At present, mobile robots can be divided into wheeled mobile robots, crawler mobile robots, and legged mobile robots according to their mobile actuators. Wheeled mobile robots have low mobility on muddy and rough roads, and it is difficult to cross obstacles; footed mobile robots have weak carrying capacity, and there are still problems such as slow speed, low efficiency, and unstable walking when walking on flat roads; Most legged mobile robots do not have a shock absorption system. Elastic rubber rings are often added to the feet to reduce impact, but the effect is not ideal, and it will accelerate the wear of the rubber ring, and the trajectory of the robot is not accurate when walking. At the same time, it also greatly reduces the service life of the motor. Contents of the invention ...

AI Technical Summary

Problems solved by technology

Wheeled mobile robots have low mobility on muddy and rough roads, and it is difficult to cross obstacles; footed mobile robots have weak carrying capacity, and there are still problems such as slow speed, low efficiency, and unstable walking when walking on flat roads; Most legged mobile robots do not have a shock absorption system. Elastic rubber rings are often added to the feet to reduce impact, but the effect is not ideal, and it will accelerate the wear of the rubber ring, and the trajectory of the robot is not accurate when walking. At the same time, it also greatly reduces the service life of the motor

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