The invention provides a wheel-foot combined type quadruped robot with a suspension function, which belongs to the technical field of robots and comprises a frame, a leg structure and a wheel structure. The leg structure comprises a motor module, a suspension device, a hip joint, an elbow joint, a foot, a shank and a thigh, and the wheel structure is provided with a motor module, a first driving wheel, a second driving wheel and a driven steering wheel. According to the robot, the position transfer efficiency is greatly improved, the automatic switching efficiency between wheel type movement and foot type movement is also greatly improved according to different road conditions, the leg structure carries a damping system, the adaptability to different road conditions is effectively met, and the utilization rate of limited electric energy of the robot is increased; the wheel-foot power switching realizes the sharing of motor power, various problems caused by providing power for driving wheels by a traditional external power motor are avoided, the movement performance of the robot is ensured, the endurance of the robot is greatly improved, and a better solution is provided for the problem of high energy consumption of a traditional four-foot robot.

    本发明提供了一种具有悬挂的轮足复合式四足机器人,属于机器人技术领域,包括机架、腿部结构、轮部结构;腿部结构包括电机模组、悬挂装置、髋关节、肘关节、足部、小腿和大腿,轮部结构设有电机模组、第一驱动轮、第二驱动轮、从动转向轮。本发明的位置转移效率得到极大提升,根据不同路况实现轮式运动和足式运动之间的自动切换效率也得到极大提升,腿部结构搭载减震系统,有效满足了不同路况的适应性,而且提高了机器人有限电能的利用率;轮足动力切换实现了电机动力的共享,免去了传统的外加动力电机给驱动轮提供动力带来的各种问题,保证机器人运动性能同时,大幅提升机器人的续航,为传统四足机器人的高能耗问题提供了较好的解决方案。


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    Title :

    Wheel-foot combined type quadruped robot with suspension


    Additional title:

    一种具有悬挂的轮足复合式四足机器人


    Contributors:
    GAO HANDONG (author) / CHEN MINGFANG (author) / XU LIANG (author) / ZHAO YANHONG (author) / ZHANG YONGXIA (author) / WANG RUIZHE (author)

    Publication date :

    2024-11-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge



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