Multi-Motion Mode Wheel-leg Separated Quadruped Robot

Abstract

The invention belongs to the field of robots, and in particular relates to a quadruped robot with separated wheels and legs in multiple motion modes, including a fuselage, outriggers, a wheel lifting mechanism, a front wheel module, a rear wheel module, a control system, a battery energy storage module and a visual sensor; The fuselage includes a vehicle frame, and there are two vehicle frames, and a plurality of connecting shafts are arranged between the two vehicle frames to realize the connection between the front and rear two vehicle frames; the legs have four two, respectively located on the left and right sides of the two vehicle frames; in the present invention, the wheels and legs are independently installed on the vehicle body, which not only has the speed characteristics of a wheeled robot, but also has the stability characteristics of a legged robot, and is simple in structure and easy to manufacture. , the wheels and legs are easy to switch, and have a large carrying capacity. The obstacle-crossing ability of the robot is effectively enhanced, and the energy utilization rate is relatively high, which greatly improves the work adaptability of the robot.

Description

Technical field [0001] The present invention belongs to the field of robotics, in particular, to multi-modal motion wheel leg disconnect quadruped robot. Background technique [0002] In today's world, the level of R & D and design level robot has become another important indicator of a country's level of technology. Mobile robot as a robot, after years of development, has gradually involved in industrial and agricultural production and the service sector. [0003] In the field of research quadruped robot, round foot hybrid robot is the focus of research in this field. Wheeled robot has the advantage on the flat ground fast moving, but the drawback is a poor ability of the barrier, are not suitable for working in complex terrain. Legged robot animal gait mode, with the ability to cross the barrier in the true sense, mountains, sand and other complex terrain work, but the drawback is the use of low energy, low speed of movement; therefore, combined with leg and wheel type of advan...

AI Technical Summary

Problems solved by technology

However, the carrying capacity is poor, and the overall mechanical structure of the robot is relatively complicated.

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