The invention belongs to the technical field of robots and particularly relates to a novel wheel-climbing combined type quadruped robot. The robot comprises a control part and a mechanical part, wherein the control part comprises a main control system, a power supply system, a motor driver, a hub driver and a communication system, the mechanical part comprises a body mechanism, a hip joint mechanism, a thigh trunk transmission and synchronization mechanism, a knee joint connecting piece, a shank trunk transmission and synchronization mechanism, a wheel type chassis and a foot type chassis, thewheel type chassis is a wheel type movement mechanism of the robot, and can perform rapid wheel type movement for leveling the ground, the foot type chassis is a gait movement mechanism of the robotand can conduct gait walking movement on the complex ground. The robot has the advantages of wheel-type movement and foot-type movement, the wheel-type movement and the foot-type movement are integrated, self-adaption real-time response is achieved, two movement modes are achieved, the robot adapts to various road conditions, the structure is simplified, and cost is reduced.
本发明属于机器人技术领域,特别是涉及一种新型轮爬复合式四足机器人。该机器人包括控制部分和机械部分,控制部分包括主控制系统、供电系统、电机驱动、轮毂驱动、通信系统;机械部分包括身体机构、髋关节机构、大腿躯干传动与同步机构、膝关节连接件、小腿躯干传动与同步机构、轮式底盘、足式底盘。其中,轮式底盘是机器人的轮式运动机构,其可进行平整地面的快速轮式运动;足式底盘是机器人的步态运动机构,其可进行复杂地面的步态行走运动。该机器人吸取了轮式运动和足式运动的优点,并将其整个在一起,自适应实时响应,既实现了两种运动方式,适应各种路况,又简化了结构,降低了成本。
Novel wheel-climbing combined type quadruped robot
新型轮爬复合式四足机器人
2020-07-14
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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