The invention discloses a wheel-leg separated quadruped robot and a control method thereof.The wheel-leg separated quadruped robot comprises a robot body, four wheel-leg separated hybrid wheel-leg mechanisms are symmetrically arranged on the left side and the right side of the robot body, and each hybrid wheel-leg mechanism comprises a first motor, a second motor, a first clutch, a second clutch, wheels, a transmission case and parallel legs; the first motor is a double-output-shaft motor, an output shaft of the second motor is connected with the first motor through the parallel legs, one end of the output shaft of the first motor is connected with the parallel legs through the second clutch, the other end of the output shaft of the first motor is connected with the input end of the transmission box through the first clutch, and the output end of the transmission box is connected with the wheels. According to the wheel-leg separation type quadruped robot, three control modes are provided, the wheel-leg separation type quadruped robot can have the characteristics of being high in speed and efficiency of a wheel type robot and high in adaptability and obstacle crossing capacity of a leg type robot at the same time, obstacle crossing can be conducted through coordination and cooperation of the hybrid wheel-leg mechanisms, and the terrain adaptability and working efficiency of the robot are greatly improved.

    本发明公开了一种轮腿分离式四足机器人及其控制方法,包括机身,所述机身左右两侧对称有四个轮腿分离的混合轮腿机构,所述混合轮腿机构包括一号电机、二号电机、一号离合器、二号离合器、车轮、传动箱和并联腿;所述一号电机为双输出轴电机,所述二号电机输出轴通过并联腿与一号电机相连,所述一号电机输出轴一端通过二号离合器与并联腿连接,另一端通过一号离合器与传动箱输入端连接,所述传动箱输出端与车轮连接。本发明轮腿分离式四足机器人共有三种控制模式,能够同时具备轮式机器人速度快,效率高和腿式机器人适应性强,越障能力好的特点,并且能够通过混合轮腿机构间的协调配合进行越障,大大提高了机器人的地形适应能力和工作效率。


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    Title :

    Wheel-leg separation type quadruped robot and control method thereof


    Additional title:

    一种轮腿分离式四足机器人及其控制方法


    Contributors:
    SHI ZHIXIN (author) / LIN HAO (author) / YUAN HUIJIAN (author) / YE MEIYAN (author)

    Publication date :

    2024-04-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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