The invention belongs to the technical field of robots, and particularly relates to a wheel-leg type balance robot and a control method thereof.The wheel-leg type balance robot comprises five-connecting-rod type wheel legs, a holder yaw shaft, a double-shaft multifunctional carrying platform, a super capacitor, a circuit board, joint motors and hub motors, and the five-connecting-rod type wheel legs are connected to the two sides of the holder yaw shaft; the cloud deck yaw shaft is connected with the double-shaft multifunctional carrying platform, the super capacitor and the circuit board are both arranged in the double-shaft multifunctional carrying platform, the super capacitor is electrically connected with the joint motor and the hub motor through the circuit board, and the joint motor and the hub motor are arranged on the five-connecting-rod type wheel leg. The joint motor is additionally arranged at the upper tail end of the thigh, and the shaft system is additionally arranged between the thigh and the shank, so that a five-connecting-rod movement form is formed, and the five-connecting-rod movement is more free and can better adapt to various application scenes.
本发明属于机器人技术领域,具体涉及一种轮腿式平衡机器人及其控制方法,包括五连杆式轮腿、云台yaw轴、双轴多功能搭载平台、超级电容、电路板、关节电机和轮毂电机,所述五连杆式轮腿连接在云台yaw轴的两侧,所述云台yaw轴与双轴多功能搭载平台连接,所述超级电容和电路板均设置在双轴多功能搭载平台内,所述超级电容通过电路板电性连接有关节电机和轮毂电机,所述关节电机和轮毂电机设置在五连杆式轮腿上。本发明通过在大腿上末端添加关节电机,以及在大腿与小腿之间添加轴系,形成了五连杆的运动形式,使得五连杆运动更加自如更能适应各种应用场景。
Wheel-legged balance robot and control method thereof
一种轮腿式平衡机器人及其控制方法
2024-11-15
Patent
Electronic Resource
Chinese
CONTROL METHOD AND APPARATUS FOR WHEEL-LEGGED ROBOT, AND WHEEL-LEGGED ROBOT AND DEVICE
European Patent Office | 2024
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