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Wheel-foot hybrid robot

A robotic and hybrid technology, applied in the field of robotics, can solve problems such as limited range of motion, poor solvability, and many parts, and achieve the effects of increasing the range of working conditions, smooth motion, and reducing output torque

Pending Publication Date: 2021-03-19
THE 21TH RES INST OF CHINA ELECTRONIC TECH GRP CORP
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0008] The purpose of the present invention is to provide a wheel-foot hybrid robot to overcome the above-mentioned wheel-foot hybrid robot in the prior art, which has many parts, redundant constraints between mechanisms, poor solveability, coupling, and limited range of motion. Limitation problem

Method used

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Embodiment Construction

[0049] The present application will be described in detail below with reference to the accompanying drawings and embodiments. Each example is provided by way of explanation of the application, not limitation of the application. In fact, those skilled in the art will recognize that modifications and variations can be made in the present application without departing from the scope or spirit of the application. For example, features illustrated or described as part of one embodiment can be used on another embodiment to yield a still further embodiment. Accordingly, it is intended that the present application cover such modifications and variations as come within the scope of the appended claims and their equivalents.

[0050] In the description of this application, the terms "vertical", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", " The orientation or positional relationship indicated by "top", "bottom", etc. is based on the orien...

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Abstract

The invention provides a wheel-foot hybrid robot. The wheel-foot hybrid robot comprises a robot body, first leg modules and a second leg module. each first leg module comprises a foot part and a supporting wheel; the second leg module comprises a steering motor, a first driving wheel and a second driving wheel; the leg module has two working modes: a foot mode and a wheel mode; in the wheel mode,the supporting wheels assist in supporting the robot body, the first driving wheel and the second driving wheel drive the wheel-foot hybrid robot to move together, and steering of the wheel-foot hybrid robot is achieved through steering of the steering motor. In the foot mode, the second leg module and the supporting wheels are suspended, and the feet of the first leg modules alternately touch theground so as to drive the wheel-foot hybrid robot to move. Compared with the prior art, the position transfer efficiency is greatly improved. In addition, in the foot mode, rapid steering of the wheel-foot hybrid robot can be achieved.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a wheel-foot hybrid robot. Background technique [0002] In the field of quadruped robot research, wheel-foot hybrid robot is a research hotspot in this field. When the footed movement mode of the wheel-foot hybrid robot is switched to the wheeled movement mode, the steering and driving of the wheeled movement mode have always been difficult. It is common to use the steering mode of the abduction and adduction kinematic pair of the hip joint, but this The steering method will cause a height difference between the four legs of the wheel-foot hybrid robot, resulting in a tilt of the torso, which will affect the function of other functional parts on the robot (such as detection devices, robotic arms). And the steering angle of this steering mode is limited, can't be applicable to the working requirement of small terrain, big steering angle. [0003] The authorized annou...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/028
CPCB62D57/028
Inventor 马保平王春雷杨亚范春辉金伟祺芮岳峰彭长武张志鹏
Owner THE 21TH RES INST OF CHINA ELECTRONIC TECH GRP CORP
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