The invention provides a wheel-foot type quadruped robot based on a crank rocker. The wheel-foot type quadruped robot comprises a robot body and a plurality of walking units, the walking units are arranged on the two sides of the robot body in pairs, and each walking unit comprises a first driving device, a hip joint support, a second driving device, a thigh support, a third driving device, a roller and a leg mechanism; the first driving device is connected with the hip joint support and the machine body and suitable for driving the hip joint support to rotate around a rotating shaft of the first driving device; the second driving device is connected with the hip joint support and the thigh support and is suitable for driving the thigh support to rotate around a rotating shaft of the second driving device; and the third driving device is connected with the thigh support and the roller and is suitable for driving the roller to rotate. The wheel-foot type quadruped robot can be repeatedly switched between wheel type walking and foot type walking, during wheel type walking, the roller is directly driven by the third driving device, shanks and knee joints do not need to be self-locked, and bearing of large weight is facilitated.

    本发明提供一种基于曲柄摇杆的轮足式四足机器人,轮足式四足机器人包括机体和多个行走单元,行走单元两两成对地设置于机体的两侧,行走单元包括:第一驱动装置、髋关节支架、第二驱动装置、大腿支架、第三驱动装置、滚轮和腿部机构;第一驱动装置分别与髋关节支架、机体连接,适于驱动髋关节支架围绕第一驱动装置的转轴转动;第二驱动装置分别与髋关节支架、大腿支架连接,适于驱动大腿支架围绕第二驱动装置的转轴转动;第三驱动装置分别与大腿支架、滚轮连接,适于驱动滚轮转动;本发明提供的轮足式四足机器人可在轮式行走和足式行走之间反复切换,轮式行走时,滚轮是由第三驱动装置直接驱动,小腿和膝关节无需自锁,有利于承载较大的重量。


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    Title :

    Wheel-foot type quadruped robot based on crank rocker


    Additional title:

    一种基于曲柄摇杆的轮足式四足机器人


    Contributors:
    YANG DONGCHAO (author) / WU QINGYUAN (author) / LI TENG (author) / ZHU HENG (author) / TAO BO (author) / HUANG GENG (author)

    Publication date :

    2021-05-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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