The invention discloses a mobile robot wheel foot structure. The mobile robot wheel foot structure comprises a base table, thighs, shanks, a first driving mechanism, a second driving mechanism, a third driving mechanism and idler wheels. The invention further discloses a control method of the mobile robot wheel foot structure. The ends, away from the idler wheels, of the shanks tilt upwards, the idler wheels make contact with the ground, and then the third driving mechanism is controlled to operate to drive the idler wheels to rotate; and the second driving mechanism is controlled to operate,one ends, away from the idler wheels, of the shanks are in contact with the ground, then the first driving mechanism and the second driving mechanism are controlled to operate, when the robot moves ina gentle area, the robot walks in a rolling manner, when the mobile robot moves to an area with complex terrain, the second driving mechanism drives the ends, away from the idler wheels, of the shanks to make contact with the ground, the first driving mechanism and the second driving mechanism can drive the thighs and the shanks to swing front and back correspondingly to conduct passive walking,so the applicability of the mobile robot to different areas is improved.

    本发明公开一种移动机器人轮足结构,包括:基台、大腿、小腿、第一驱动机构、第二驱动机构、第三驱动机构、滚轮,本发明还公开了一种移动机器人轮足结构的控制方法,使小腿远离所述滚轮的一端向上翘起,并使得滚轮与地面接触,随后控制所述第三驱动机构运转,驱动所述滚轮转动;控制所述第二驱动机构运转,使所述小腿远离所述滚轮的一端与地面接触,随后控制所述第一驱动机构及第二驱动机构运转,在平缓的地区运动时,进行滚动行走,当运动到地形较为复杂的区域时,所述第二驱动机构驱动所述小腿远离所述滚轮的一端与地面接触,第一驱动机构和第二驱动机构可分别驱动所述大腿、小腿前后摆动,进行被动行走,提高移动机器人对不同地区的适用性。


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    Title :

    Mobile robot wheel foot structure and control method thereof


    Additional title:

    一种移动机器人轮足结构及其控制方法


    Contributors:
    XIONG SHIQI (author) / ZHANG HONG (author)

    Publication date :

    2020-06-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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