The invention discloses a foot structure which comprises a large arm and a small arm which are hinged to each other, the end, away from the small arm, of the large arm is hinged to a support, a large arm oil cylinder is further hinged between the large arm and the support, a joint motor is further installed on the support and hinged to the small arm through a connecting rod, and the large arm oil cylinder and the connecting rod are located on the two opposite sides of the large arm respectively. The support is installed on an output shaft of a steering motor, and the steering motor and the large arm are located on the two opposite sides of the support respectively. The invention further discloses a wheel-foot combined type robot chassis using the foot structure and a control method of the wheel-foot combined type robot chassis. According to the foot structure, the wheel-foot combined type robot chassis and the control method, the chassis has high trafficability, high load performance and high flexibility in a cross-country environment, and the high efficiency of a wheel type chassis on a flat road surface and the obstacle crossing capacity of a foot type robot on a rugged road surface are integrated; the advancing mode can be automatically selected according to road conditions or obstacle information, and high environmental adaptability is achieved.
本发明公开了一种足结构,其包括相互铰接的大臂和小臂,大臂的远离小臂一端铰接在一支架上,大臂和支架之间还铰接有大臂油缸,支架上还安装有关节电机,关节电机通过连杆与小臂铰接,大臂油缸和连杆分别位于大臂的相对两侧,支架安装在一转向电机的输出轴上,转向电机和大臂分别位于支架的相对两侧。本发明还公开了一种使用上述足结构的轮足复合式机器人底盘及其控制方法。其目的是为了提供一种足结构、轮足复合式机器人底盘及控制方法,底盘在越野环境中具有高通过性、高负荷性和高灵活性,综合轮式底盘在平坦路面的高效率和足式机器人在崎岖路面的越障能力,能够根据路面状况或者障碍物信息自动选择前进模式,达到较高的环境适应性。
Foot structure, wheel-foot combined type robot chassis and control method
一种足结构、轮足复合式机器人底盘及控制方法
2024-11-12
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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