Four leg mechanisms (2, 3, 4 and 5) with the same structure are used for supporting a robot body assembly (1), and each leg mechanism comprises a leg motor set, a thigh assembly, a shank and a wheel-foot assembly. A connecting rod mechanism in the thigh assembly is driven by three motors to complete transmission of movement of thighs and shanks; the ankle joints are driven by a steering engine to complete rotation of the wheel feet. A motor is adopted to drive a connecting rod mechanism to achieve changes of hip joints and knee joints, and a steering engine is adopted to drive to achieve changes of ankle joints. Rapid mode switching of the robot is achieved through changes of knee joints and ankle joints, and when the terrain is a flat ground, in order to increase the advancing speed of the robot, a wheel walking gait is adopted, namely, the rollers make contact with the ground. When the terrain is rugged, in order to surmount obstacles, the robot adopts a foot walking gait, namely, the rigid feet are in contact with the ground.

    本发明公开了一种多模态轮足复合四足机器人,用于支撑机身组件(1)的是结构相同的四条腿部机构(2、3、4、5),每个腿部机构包括有腿部电机组、大腿组件、小腿和轮足组件。所述大腿组件中的连杆机构通过三个电机驱动完成大腿、小腿运动的传递;踝关节通过舵机驱动完成轮足的转动。采用电机驱动连杆机构实现髋关节、膝关节的变化,采用舵机驱动实现踝关节的变化;在膝、踝关节的变化实现了本发明机器人的模态快速切换,在地形为平坦地面时,为了加快机器人的行进速度,采用轮行步态,即滚轮与地面接触。在地形为崎岖地面时,为了越障,机器人采用足行步态,即刚性足与地面接触。


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    Title :

    Multi-mode wheel-foot composite quadruped robot


    Additional title:

    多模态轮足复合四足机器人


    Contributors:
    XU KUN (author) / LI QIKAI (author) / CHEN JIAWEI (author) / DING XILUN (author)

    Publication date :

    2023-06-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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