CN112519918A - Wheel-foot hybrid robot - Google Patents
Wheel-foot hybrid robot Download PDFInfo
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- CN112519918A CN112519918A CN202011599318.8A CN202011599318A CN112519918A CN 112519918 A CN112519918 A CN 112519918A CN 202011599318 A CN202011599318 A CN 202011599318A CN 112519918 A CN112519918 A CN 112519918A
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- 210000002414 leg Anatomy 0.000 claims description 100
- 210000000689 upper leg Anatomy 0.000 claims description 50
- 230000005540 biological transmission Effects 0.000 claims description 12
- 238000012546 transfer Methods 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 21
- 230000007246 mechanism Effects 0.000 description 12
- 210000001364 upper extremity Anatomy 0.000 description 10
- 230000006978 adaptation Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000012876 topography Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 244000309466 calf Species 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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Abstract
The invention provides a wheel-foot hybrid robot. The wheel-foot hybrid robot comprises a robot body, a first leg module and a second leg module; the first leg module comprises a foot and a support wheel; the second leg module includes a first drive wheel and a second drive wheel, the leg module having two modes of operation: a foot mode and a wheel mode; in the wheel mode, the support wheel assists to support the robot body, the first driving wheel and the second driving wheel drive the wheel-foot hybrid robot to move together, and the steering of the wheel-foot hybrid robot is realized by controlling the rotating speed difference of the first driving wheel and the second driving wheel; in the foot mode, the second leg module and the supporting wheel are suspended, and the foot of each first leg module alternately touches the ground to drive the wheel-foot hybrid robot to move. Compared with the prior art, the position transfer efficiency is greatly improved. In addition, when the robot is in the foot mode, the rapid steering of the wheel-foot hybrid robot can be realized.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a wheel-foot hybrid robot.
Background
In the research field of the quadruped robot, the wheel-foot hybrid robot is a hot spot of research in the field. When the foot type motion mode of the wheel-foot hybrid robot is switched to the wheel type motion mode, the steering and driving of the wheel type motion mode are always difficult, and the steering mode of a hip joint abduction and adduction kinematic pair is usually adopted, but the steering mode can cause the height difference of four legs of the wheel-foot hybrid robot, so that the trunk of the wheel-foot hybrid robot is inclined, and the functions of other functional components (such as a detection device and a mechanical arm) on the robot are influenced. And the steering angle of the steering mode is limited, and the steering mode cannot be suitable for the working requirements of small terrain and large steering angle.
The invention patent with the grant notice number of CN105667622B and the grant notice date of 2016, 01, 14 discloses a six-wheel foot type mobile robot with three sections of bodies, the robot has three steering modes in a wheel type motion mode, namely, a first steering mode and a differential steering mode, the differential steering mode can be realized by respectively controlling the wheel rotating speed of six legs, the wheel rotating speed of the left front leg, the left middle leg and the left rear leg is slow, the wheel rotating speed of the right front leg, the right middle leg and the right rear leg is fast, and the left turning motion of the robot can be realized; the wheel speed of the left front leg, the left middle leg and the left rear leg is high, the wheel speed of the right front leg, the right middle leg and the right rear leg is low, and the right-turning motion of the robot can be realized.
And secondly, the front wheel steering can be realized by coordinately controlling the directions of the left front leg and the right front leg, the joints of the left front leg and the right front leg rotate leftwards simultaneously to realize the left-turning motion of the robot, and the joints of the left front leg and the right front leg rotate rightwards simultaneously to realize the right-turning motion of the robot.
And thirdly, in-situ steering is realized, the wheels at the lower ends of the six legs are distributed on the circumference of the same circle by coordinately controlling the directions of the six legs, and the directions of the wheels are tangent to the circle.
Although steering under small terrain and large steering angle can be realized, the steering mechanism has many parts, redundant constraint exists among mechanisms, the resolvability is poor, coupling exists, and the moving range is limited.
Therefore, there is a need to provide an improved solution to the above-mentioned deficiencies of the prior art.
Disclosure of Invention
The invention aims to provide a wheel-foot hybrid robot, which solves the problems that the wheel-foot hybrid robot in the prior art has many parts, redundant constraint exists among mechanisms, the resolvability is poor, the coupling exists, and the moving range is limited.
In order to achieve the above purpose, the invention provides the following technical scheme: a wheel-foot hybrid robot, comprising:
a body;
the leg module is arranged on the body and used for driving the wheel-foot hybrid robot to move, and the leg module comprises a first leg module and a second leg module;
the first leg modules are wheel-foot type leg modules, the number of the first leg modules is four, the first leg modules are arranged at the left side and the right side of the machine body respectively, the first leg modules at the same side are arranged along the front-back direction of the machine body, and each first leg module comprises a foot part and a supporting wheel;
the second leg module is fixedly arranged on the machine body and comprises a first driving wheel and a second driving wheel, the first driving wheel is driven by a first motor, the second driving wheel is driven by a second motor, and the axes of the first driving wheel and the second driving wheel are overlapped;
the leg module has two modes of operation: a foot mode and a wheel mode;
when the leg module is in a wheel mode, the support wheel assists to support the machine body, the foot part of the first leg module is suspended, the first driving wheel and the second driving wheel drive the wheel-foot hybrid robot to move together, and the wheel-foot hybrid robot is steered by controlling the rotation speed difference of the first driving wheel and the second driving wheel;
when the robot is in a foot mode, the second leg module and the supporting wheels are suspended, and the foot part of each first leg module alternately touches the ground to drive the wheel-foot hybrid robot to move.
Furthermore, the wheel-foot hybrid robot further comprises an extending motor, the extending motor is fixed on the robot body, and the output end of the extending motor is connected with the first leg module so as to drive the first leg module to swing around the axis of the output end of the extending motor in the left-right direction of the robot body.
Furthermore, the first leg module further comprises a thigh driving motor, a shank driving motor, a hinge shaft, a thigh and a shank;
the lower end part of the thigh is hinged with the upper end part of the shank through the hinge shaft, and the foot part is arranged at the lower end part of the shank;
the thigh driving motor is fixed at the output end of the abduction motor, and the upper end part of the thigh is arranged at the output end of the thigh driving motor;
the shank driving motor is used for driving the shank to swing around the hinge shaft.
Furthermore, a driven wheel is fixed on the shank, a driving wheel is arranged at the output end of the shank driving motor, a transmission belt is arranged between the driving wheel and the driven wheel, and the shank driving motor transmits power to the driven wheel through the driving wheel and the transmission belt so as to drive the shank to swing around the hinge shaft.
Further, the thigh comprises: the structure plate comprises two structure plates and a connecting piece, wherein the two structure plates are arranged in parallel, and the connecting piece is connected with the two structure plates;
the driving wheel, the transmission belt and the driven wheel are all arranged between the two structural plates.
Furthermore, the driven wheel is sleeved on the hinge shaft through a bearing.
Furthermore, the thigh driving motor is a frameless motor, the shank driving motor is arranged in an inner cavity of the frameless motor, and an output shaft of the shank driving motor extends out of the frameless motor.
Furthermore, the supporting wheel is sleeved on the hinge shaft through a bearing.
Furthermore, the upper end part of the shank is of a U-shaped structure, a hinge shaft mounting hole is formed in the U-shaped structure, and the hinge shaft is mounted in the hinge shaft mounting hole.
Further, a center of mass of the second leg module is vertically collinear with a center of mass of the fuselage.
Compared with the closest prior art, the technical scheme provided by the invention at least has the following beneficial effects:
1) among the technical scheme that this application provided, the leg module has wheel mode and sufficient mode two kinds of modes, when being in the wheel mode, can be in smooth plane internal fast moving. When the device is in the foot mode, the device can be suitable for rough road surfaces and can quickly avoid obstacles. Compared with the prior art, the position transfer efficiency of the wheel-foot hybrid robot is greatly improved, and the working radius of the wheel-foot hybrid robot is guaranteed. In addition, when the wheel-foot hybrid robot is in the wheel mode, the wheel-foot hybrid robot can quickly turn, so that the wheel-foot hybrid robot can be suitable for narrow working environments, and the working condition range suitable for the wheel-foot hybrid robot is enlarged.
2) The setting of abduction motor can adjust the position of first leg module, and further be applicable to various topography.
3) The first leg module consists of a thigh and a shank, and different swinging of the thigh and the shank forms movement of the shank, so that power compensation during leg movement is realized, and output torque of a thigh driving motor and a shank driving motor is effectively reduced.
4) The shank driving motor drives the shank to swing through the belt transmission mechanism, the technology is mature, and the weight is light.
5) The shank driving motor is arranged in the thigh driving motor, so that the mechanism redundancy of the first leg module is effectively reduced, the motion inertia of the first leg module during motion is reduced, the motion of the robot is more stable, and the control precision of the robot is improved.
6) The driven wheel is sleeved on the hinged shaft, and the structure of the hinged shaft is effectively utilized when the driven wheel is arranged, so that the structure is simple, and the weight is lighter.
7) The thigh adopts a form that two structural plates are connected through a connecting piece, so that the structural strength of the thigh is ensured, and the weight of the thigh is reduced.
8) The supporting wheel is sleeved on the hinged shaft, and the structure of the hinged shaft is effectively utilized when the supporting wheel is arranged, so that the structure is simple, and the weight is lighter.
9) When the wheel-foot hybrid robot moves, the mass center of the second leg module can be collinear with the mass center of the robot body in the vertical direction, and the problems that the robot moves unstably and the control precision of the robot is reduced due to the fact that the mass center of the robot is inclined when the leg module is in the foot mode can be avoided.
10) The upper end part of the shank is of a U-shaped structure, so that the structural strength of the shank is improved on the premise that the shank can be connected with the hinged shaft.
Drawings
FIG. 1 is a three-dimensional view of an embodiment of a wheel-foot hybrid robot of the present invention;
FIG. 2 is another three-dimensional view of an embodiment of the wheel-foot hybrid robot of the present invention;
FIG. 3 is a front view of a particular embodiment of the wheel-foot hybrid robot of the present invention with the leg module in a foot mode;
FIG. 4 is a front view of a particular embodiment of a wheel-foot hybrid robot of the present invention with the leg module in a wheel mode;
fig. 5 is a schematic structural diagram of the abduction joint and the first leg module in the embodiment of the wheel-foot hybrid robot of the present invention.
In the figure: 1. a body; 2. an abduction motor; 3. a thigh drive motor; 4. a shank drive motor; 41. the output shaft of the shank driving motor; 5. a thigh; 51. a structural panel; 52. a connecting member; 6. a lower leg; 61. a U-shaped structure; 62. a connecting rod; 7. a foot section; 8. a driving wheel; 9. a transmission belt; 10. a driven wheel; 11. hinging a shaft; 12. a support wheel; 13. a frame; 14. a first drive wheel; 15. a second drive wheel; 16. a first motor; 17. a second motor.
Detailed Description
The present application will be described in detail below with reference to the embodiments with reference to the attached drawings. The various examples are provided by way of explanation of the application and are not limiting of the application. In fact, it will be apparent to those skilled in the art that modifications and variations can be made in the present application without departing from the scope or spirit of the application. For instance, features illustrated or described as part of one embodiment, can be used with another embodiment to yield a still further embodiment. It is therefore intended that the present application cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.
In the description of the present application, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description of the present application but do not require that the present application must be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. The terms "connected," "connected," and "disposed" as used herein are intended to be broadly construed, and may include, for example, fixed and removable connections; can be directly connected or indirectly connected through intermediate components; the connection may be a wired electrical connection, a wireless electrical connection, or a wireless communication signal connection, and a person skilled in the art can understand the specific meaning of the above terms according to specific situations.
The specific embodiment of the wheel-foot hybrid robot of the invention comprises the following steps: in the embodiment of the present application, the movement direction of the robot is defined as the front-back direction of the robot, the trunk of the robot extends in the front-back direction, and the direction perpendicular to the front-back direction in the horizontal plane is defined as the left-right direction of the robot.
As shown in fig. 1 and 2, the wheel-foot hybrid robot includes a body 1, an abduction motor 2, and a leg module. The leg module is arranged on the machine body 1 and used for driving the wheel-foot hybrid robot to move, and comprises a first leg module and a second leg module.
The first leg modules are wheel-foot type leg modules, the number of the first leg modules is four, the first leg modules at four positions are symmetrically arranged at the left side and the right side of the machine body 1 in two groups, and the first leg modules at the same side are arranged along the front-back direction of the machine body. One is taken as an example for explanation: first leg module passes through abduction motor 2 to be fixed on fuselage 1, and is specific: the abduction motor 2 is correspondingly fixed at the front part or the rear part of the machine body 1, the axis of the abduction motor 2 is along the front-back direction, and the first leg module is arranged at the output end of the abduction motor 2.
The first leg module comprises a thigh driving motor 3, a shank driving motor 4, an articulated shaft 11, a thigh 5, a supporting wheel 12, a shank 6 and a foot 7, the thigh driving motor 3 is fixed at the output end of the abduction motor 2, the upper end of the thigh 5 is installed at the output end of the thigh driving motor 3, the lower end of the thigh 5 is articulated with the upper end of the shank 6 through the articulated shaft 11, and the foot 7 is installed at the lower end of the shank 6. The supporting wheel 12 is sleeved on the hinge shaft 11. The thigh 5 comprises a structural plate 51 and a connecting piece 52, the structural plate 51 having two pieces and being parallel to each other. The connecting member 52 connects the two structural plates 51. The shape of the structural plate 51 may be adapted according to the leg design of the wheel-foot hybrid robot, for example, the structural plate 51 may be kidney-shaped, rectangular, etc. The both ends of structural slab 51 all are equipped with the mounting hole, and the mounting hole and the shank driving motor output shaft 41 looks adaptation of one end supply shank driving motor output shaft 41 to pass, and the mounting hole and the articulated shaft 11 looks adaptation of the other end supply articulated shaft 11 to pass. Wherein the supporting wheel 12 is arranged on the outer side of the thigh 5 and the driven wheel 10 is arranged in the thigh 5 (between the two structural plates 51).
As shown in fig. 5, the thigh driving motor 3 is a frameless motor, the shank driving motor 4 is disposed in an inner cavity of the thigh driving motor 3, an output shaft 41 of the shank driving motor extends out of an axial gap at the middle of an output end of the thigh driving motor 3, and axes of the thigh driving motor 3 and the shank driving motor 4 are both along a left-right direction. The arrangement can maximize the utilization of space, so that the mechanism is more compact; meanwhile, the frameless motor has no shell, so that the weight of the whole motor is effectively reduced. Shank driving motor 4 sets up in thigh driving motor 3, and two motors are all installed at the top of first leg module, and the mechanism redundancy of the first leg module of effectual reduction reduces the motion inertia of first leg module under sufficient mode, makes the motion of robot more steady, improves the control accuracy of robot. Meanwhile, the output torque of the thigh driving motor 3 can be more used for swinging the thigh 5 and the shank 6, and the efficiency of the thigh driving motor 3 is improved.
The lower leg driving motor 4 is used for driving the lower leg 6 to swing around the hinge shaft 11, and specifically: a driven wheel 10 is fixed on the lower leg 6, and the driven wheel 10 is sleeved on the hinge shaft 11. The output end 41 of the shank driving motor is provided with a driving wheel 8, a transmission belt 9 is arranged between the driving wheel 8 and a driven wheel 10, the driving wheel 8, the driven wheel 10 and the transmission belt 9 form a belt transmission mechanism, and the shank driving motor 4 drives the shank 6 to swing around a hinge shaft 11 through the belt transmission mechanism.
The second leg module is arranged under the machine body 1, and the mass center of the second leg module is collinear with the mass center of the machine body 1 in the vertical direction. The second leg module comprises a first drive wheel 14, a second drive wheel 15 and a frame 13. Frame 13 is fixed in the bottom of fuselage 1, and frame 13 is the U-shaped structure, and first drive wheel 14 and second drive wheel 15 are located the two places curb plate of U-shaped structure respectively, and the axis all along left right direction and collineation, and first drive wheel 14 and second drive wheel 15 all set up in the outside that corresponds the curb plate. The first driving wheel 14 is driven by a first motor 16, the second driving wheel 15 is driven by a second motor 17, and the first motor 16 and the second motor 17 are respectively and correspondingly installed on two side plates and are positioned on the inner sides of the two side plates. The upper end part of the lower leg 6 is a U-shaped structure 61, two side plates of the U-shaped structure 61 are coaxially provided with hinge shaft mounting holes, and a hinge shaft 11 is arranged in the hinge shaft mounting holes. The bottom of the U-shaped structure 61 is provided with a cylindrical connecting rod 62, one end of the connecting rod 62 is connected with the U-shaped structure 61, and the other end is connected with the foot 7. The structural configuration of the foot 7 can be adapted to the working conditions. For example, the foot 7 is spherical and made of an elastic material (e.g., rubber), so that the adaptability of the foot 7 is effectively improved, and the vibration of the wheel-foot hybrid robot in a foot mode is reduced.
The leg module has two modes of operation: foot mode and wheel mode:
as shown in fig. 3, when the leg modules are in the foot mode, the first leg module is unfolded and the first drive wheel 14, the second drive wheel 15 and the support wheel 12 of the second leg module are suspended. The thigh drive motor 3, the calf drive motor 4 and the belt drive mechanism of each first leg module operate to alternately ground each foot 7 to drive the wheel-foot hybrid robot to move.
As shown in fig. 4, when the leg modules are in the wheel mode, the first leg module is folded and the foot portion 7 of the first leg module is suspended. The first drive wheel 14, the second drive wheel 15 and the support wheel 12 touch the ground. The first motor 16 and the second motor 17 of the second leg module work to enable the first driving wheel 14 and the second driving wheel 15 to drive the hybrid robot to move, steering is achieved by controlling the rotating speed difference of the first driving wheel 14 and the second driving wheel 15, and the supporting wheel 12 of the first leg module assists in supporting the machine body 1.
In summary, the wheel-foot hybrid robot adopted by the invention has the following technical effects compared with the prior art:
1) among the technical scheme that this application provided, the leg module has wheel mode and sufficient mode two kinds of modes, when being in the wheel mode, can be in smooth plane internal fast moving. When the device is in the foot mode, the device can be suitable for rough road surfaces and can quickly avoid obstacles. Compared with the prior art, the position transfer efficiency of the wheel-foot hybrid robot is greatly improved, and the working radius of the wheel-foot hybrid robot is guaranteed. In addition, when the wheel-foot hybrid robot is in the wheel mode, the wheel-foot hybrid robot can quickly turn, so that the wheel-foot hybrid robot can be suitable for narrow working environments, and the working condition range suitable for the wheel-foot hybrid robot is enlarged.
2) The setting of abduction motor can adjust the position of first leg module, and further be applicable to various topography.
3) The first leg module consists of a thigh and a shank, and different swinging of the thigh and the shank forms movement of the shank, so that power compensation during leg movement is realized, and output torque of a thigh driving motor and a shank driving motor is effectively reduced.
4) The shank driving motor drives the shank to swing through the belt transmission mechanism, the technology is mature, and the weight is light.
5) The shank driving motor is arranged in the thigh driving motor, so that the mechanism redundancy of the first leg module is effectively reduced, the motion inertia of the first leg module during motion is reduced, the motion of the robot is more stable, and the control precision of the robot is improved.
6) The driven wheel is sleeved on the hinged shaft, and the structure of the hinged shaft is effectively utilized when the driven wheel is arranged, so that the structure is simple, and the weight is lighter.
7) The thigh adopts a form that two structural plates are connected through a connecting piece, so that the structural strength of the thigh is ensured, and the weight of the thigh is reduced.
8) The supporting wheel is sleeved on the hinged shaft, and the structure of the hinged shaft is effectively utilized when the supporting wheel is arranged, so that the structure is simple, and the weight is lighter.
9) When the wheel-foot hybrid robot moves, the mass center of the second leg module can be collinear with the mass center of the robot body in the vertical direction, and the problems that the robot moves unstably and the control precision of the robot is reduced due to the fact that the mass center of the robot is inclined when the leg module is in the foot mode can be avoided.
10) The upper end part of the shank is of a U-shaped structure, so that the structural strength of the shank is improved on the premise that the shank can be connected with the hinged shaft.
The invention is not to be considered as limited to the particular embodiments shown, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. Wheel sufficient hybrid robot, its characterized in that: the method comprises the following steps:
a body;
the leg module is arranged on the body and used for driving the wheel-foot hybrid robot to move, and the leg module comprises a first leg module and a second leg module;
the first leg modules are wheel-foot type leg modules, the number of the first leg modules is four, the first leg modules are arranged at the left side and the right side of the machine body respectively, the first leg modules at the same side are arranged along the front-back direction of the machine body, and each first leg module comprises a foot part and a supporting wheel;
the second leg module is fixedly arranged on the machine body and comprises a first driving wheel and a second driving wheel, the first driving wheel is driven by a first motor, the second driving wheel is driven by a second motor, and the axes of the first driving wheel and the second driving wheel are overlapped;
the leg module has two modes of operation: a foot mode and a wheel mode;
when the leg module is in a wheel mode, the support wheel assists to support the machine body, the foot part of the first leg module is suspended, the first driving wheel and the second driving wheel drive the wheel-foot hybrid robot to move together, and the wheel-foot hybrid robot is steered by controlling the rotation speed difference of the first driving wheel and the second driving wheel;
when the robot is in a foot mode, the second leg module and the supporting wheels are suspended, and the foot part of each first leg module alternately touches the ground to drive the wheel-foot hybrid robot to move.
2. The wheel-foot hybrid robot of claim 1, wherein: the wheel-foot hybrid robot further comprises an abduction motor, wherein the abduction motor is fixed on the robot body, and the output end of the abduction motor is connected with the first leg module so as to drive the first leg module to wind the axis of the output end of the abduction motor to swing in the left-right direction of the robot body.
3. The wheel-foot hybrid robot of claim 2, wherein: the first leg module further comprises a thigh driving motor, a shank driving motor, a hinge shaft, a thigh and a shank;
the lower end part of the thigh is hinged with the upper end part of the shank through the hinge shaft, and the foot part is arranged at the lower end part of the shank;
the thigh driving motor is fixed at the output end of the abduction motor, and the upper end part of the thigh is arranged at the output end of the thigh driving motor;
the shank driving motor is used for driving the shank to swing around the hinge shaft.
4. The wheel-foot hybrid robot according to claim 3, characterized in that: the shank driving motor transmits power to the driven wheel through the driving wheel and the transmission belt so as to drive the shank to swing around the hinge shaft.
5. The wheel-foot hybrid robot of claim 4, wherein: the thigh comprises: the structure plate comprises two structure plates and a connecting piece, wherein the two structure plates are arranged in parallel, and the connecting piece is connected with the two structure plates;
the driving wheel, the transmission belt and the driven wheel are all arranged between the two structural plates.
6. The wheel-foot hybrid robot of claim 4, wherein: the driven wheel is sleeved on the hinged shaft through a bearing.
7. The wheel-foot hybrid robot of claim 4, wherein: the thigh driving motor is a frameless motor, the shank driving motor is arranged in an inner cavity of the frameless motor, and an output shaft of the shank driving motor extends out of the frameless motor.
8. The wheel-foot hybrid robot according to claim 3, characterized in that: the supporting wheel is sleeved on the hinged shaft through a bearing.
9. The wheel-foot hybrid robot according to claim 3, characterized in that: the upper end part of the shank is of a U-shaped structure, a hinge shaft mounting hole is formed in the U-shaped structure, and the hinge shaft is mounted in the hinge shaft mounting hole.
10. The wheel-foot hybrid robot according to any one of claims 1 to 9, wherein: the second leg module has a center of mass that is vertically collinear with the center of mass of the fuselage.
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| CN202011599318.8A CN112519918A (en) | 2020-12-29 | 2020-12-29 | Wheel-foot hybrid robot |
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| CN202011599318.8A CN112519918A (en) | 2020-12-29 | 2020-12-29 | Wheel-foot hybrid robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113212589A (en) * | 2021-06-09 | 2021-08-06 | 大连海事大学 | Wheel-foot type robot leg structure |
| CN116238615A (en) * | 2023-04-12 | 2023-06-09 | 吉林大学 | Small-size collapsible wheel leg formula mobile robot |
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