The invention belongs to the field of robots, and particularly relates to a multi-motion-mode wheel-leg separation type quadruped robot which comprises a robot body, supporting legs, a wheel lifting mechanism, a front wheel module, a rear wheel module, a control system, a battery energy storage module and a visual sensor. The machine body comprises two vehicle frames, and a plurality of connecting shafts are arranged between the two vehicle frames so that the front vehicle frame and the rear vehicle frame can be connected. The four supporting legs are located on the left side and the right side of the two vehicle frames respectively. According to the robot, the wheels and the legs are independently mounted on the vehicle body, so that the robot has the speed characteristic of a wheeled robot and the stability characteristic of a legged robot, is simple in structure, easy to process and manufacture and simple in wheel-leg switching, and has relatively high bearing capacity, the obstacle crossing capacity of the robot is effectively enhanced, and the utilization rate of energy is relatively high; and the working adaptability of the robot is greatly improved.
本发明属于机器人领域,具体涉及多运动模态轮腿分离式四足机器人,包括机身、支腿、轮升降机构、前轮模块、后轮模块、控制系统、电池蓄能模块和视觉传感器;所述机身包括车架,所述车架有两个,在两个所述车架之间设置有多根连接轴,以实现前后两个车架之间的连接;所述支腿有四个,分别位于两个车架的左右两侧;本发明中车轮与腿部独立安装在车身上,既具有轮式机器人的速度特性,也具有腿式机器人的稳定特性,结构简单,加工制造容易,轮腿切换简单,且具有较大的承载能力,机器人的跨障能力得到有效增强,能量的利用率相对较高,大大提升了机器人的工作适应能力。
Multi-motion-mode wheel-leg separation type quadruped robot
多运动模态轮腿分离式四足机器人
2021-08-13
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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