The invention discloses a wheel-leg composite mobile robot and a control method thereof.The two sides of a frame of the robot are provided with four wheel-leg set mechanisms in total, and each wheel-leg set mechanism comprises a leg mechanism, a wheel type mechanism and a gear transmission mechanism; the leg mechanism is provided with two legs; the gear transmission mechanism drives a cam push rod through a cam so that the leg mechanism can achieve leg lifting, leg stepping and stepping actions. The wheel type mechanism is arranged between the two legs of the leg mechanism and comprises wheels and an air cylinder fixed to the frame, a long connecting rod is hinged to the front end of the air cylinder, and the other end of the long connecting rod is hinged to the wheels; the other end of the short connecting rod is hinged with the wheel; wheel motors are arranged on the wheels and used for driving the wheels to rotate; when the air cylinders drive the wheels to retract, the robot is in a leg type working mode; when the air cylinders drive the wheels to be put down, the robot is in a wheel type working mode. The robot can realize anthropomorphic gaits and has better obstacle avoidance capability.
本发明公开了一种轮腿复合移动机器人及其控制方法,所述机器人的车架两侧设有共计四组轮腿组机构,轮腿组机构包括腿部机构、轮式机构和齿轮传动机构;腿部机构具有两条腿;齿轮传动机构利用凸轮驱动凸轮推杆,以使腿部机构实现抬腿、迈腿和跨步动作;轮式机构设置在腿部机构的两条腿之间,包括车轮和固定在车架上的气缸,气缸前端铰接有长连杆,长连杆另一端与车轮铰接相连;气缸推杆端部铰接有短连杆,短连杆另一端与车轮铰接相连;车轮上设有车轮电机,用于驱动车轮转动;当气缸驱动车轮收起时,机器人为腿式工作模式;当气缸驱动车轮放下时,机器人为轮式工作模式。本发明能够实现拟人步态,具备更好的避障能力。
Wheel-leg composite mobile robot and control method thereof
一种轮腿复合移动机器人及其控制方法
2023-08-01
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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