CN112141234B - Foot swinging of multi-foot wheeled robot and multi-foot wheeled robot - Google Patents
Foot swinging of multi-foot wheeled robot and multi-foot wheeled robot Download PDFInfo
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- CN112141234B CN112141234B CN202010885432.0A CN202010885432A CN112141234B CN 112141234 B CN112141234 B CN 112141234B CN 202010885432 A CN202010885432 A CN 202010885432A CN 112141234 B CN112141234 B CN 112141234B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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Abstract
The invention provides a swing foot of a multi-foot wheeled robot and the multi-foot wheeled robot, which solve the problems of poor road surface adaptability and the like of the robot. The invention has the advantages of good road surface adaptability, stable movement and the like.
Description
Technical Field
The invention belongs to the technical field of multi-foot robots, and particularly relates to a swing foot of a multi-foot wheeled robot and the multi-foot wheeled robot.
Background
There are places in nature and human society that humans cannot reach and special occasions where human life may be endangered. Such as planet surfaces, mines in which disasters occur, disaster prevention and rescue, counterterrorism and fighting, and the like, the continuous exploration and research of the dangerous environments, and the search for a feasible way for solving the problems become the needs of scientific and technical development and human social progress. Terrain irregularities and bumpiness are common features of these environments. Thereby limiting the applicability of wheeled and tracked robots. Previous researches show that when a wheel type moving mode runs on relatively flat terrain, the wheel type moving mode has quite advantages of rapid and stable movement speed and simpler structure and control, but when the wheel type moving mode runs on uneven ground, the energy consumption is greatly increased, and on soft ground or severe rugged terrain, the action of the wheels is seriously lost, and the moving efficiency is greatly reduced. In order to improve the adaptability of the wheels to soft ground and uneven ground, a crawler type moving mode is developed, but the mobility of the crawler type robot on the uneven ground is still poor, and the body shakes seriously. The research of the multi-legged walking robot is vigorously developed under the background that the walking robot has unique and superior performance compared with a wheeled and tracked mobile robot on a rugged road. In practical applications, the multi-legged robot has a disadvantage of slow moving speed. In addition, the conventional wheeled robot has poor adaptability to complex road conditions such as slopes or steps.
In order to solve the defects of the prior art, people have long searched for and put forward various solutions. For example, chinese patent literature discloses a wheel-type foot assembly [201921303848.6] of a multi-foot wheel-type robot, which includes a traveling wheel body connected to a rolling driving mechanism capable of driving the traveling wheel body to roll, wherein a rolling central axis of the traveling wheel body is disposed horizontally with respect to the ground, the rolling driving mechanism is connected to a steering driving mechanism capable of driving the rolling driving mechanism to rotate circumferentially with respect to the ground, a steering central axis of the steering driving mechanism is disposed vertically with respect to the ground, the traveling wheel body is disposed on one side of the steering central axis, the steering driving mechanism is connected to a lifting mechanism, and a lifting central axis of the lifting mechanism is disposed vertically or obliquely with respect to the ground.
The scheme solves the problem of slow movement of the multi-legged robot to a certain extent, but the scheme still has a plurality of defects, such as inconvenient height adjustment of the driving wheels, poor road surface adaptability and the like.
Disclosure of Invention
The invention aims to solve the problems and provides a swing foot of a multi-foot wheeled robot with reasonable design and good road surface adaptability.
Another object of the present invention is to solve the above problems and provide a multi-legged wheeled robot with a simple structure and flexible height adjustment.
In order to achieve the purpose, the invention adopts the following technical scheme: the swing foot of the multi-foot wheeled robot is arranged in the middle section of the bottom of the robot body and comprises a swing telescopic foot, wherein the lower end of the swing telescopic foot is provided with a walking wheel, and a swing driving structure capable of driving the swing telescopic foot to swing back and forth along the longitudinal direction of the robot body is arranged between the swing telescopic foot and the robot body. Through increasing swing drive structure for the flexible foot of swing in robot fuselage middle part can support robot fuselage adjustment self focus position, guarantees the motion harmony of polypod wheeled robot, makes polypod wheeled robot adapt to various complicated road conditions such as ramp, step.
In the swing feet of the multi-foot wheeled robot, the number of the swing telescopic feet is one, and the swing telescopic feet are arranged at the bottom of the robot body in the middle; or the number of the swing telescopic feet is at least two and the swing telescopic feet are arranged at the bottom of the robot body in the middle, and the swing telescopic feet are distributed at intervals along the bottom of the robot body transversely. And selecting a proper number of swing telescopic feet according to actual requirements to obtain the optimal motion stability.
In the foot swing of the multi-foot wheeled robot, the swing range of the swing telescopic foot is an included angle formed between the axial central axis of the swing telescopic foot and the longitudinal central axis of the robot body, and the included angle is 0-180 degrees. The swing telescopic foot has a large swing range, can adapt to slope angle change in a large range, and can replace a walking wheel to serve as a driving mechanism for driving the multi-foot wheeled robot to advance in a special environment.
In the swing foot of the multi-foot wheeled robot, the swing telescopic foot comprises a plurality of swing telescopic bodies which are sequentially connected, a robot body is connected with the uppermost swing telescopic body, the walking wheels are arranged on the lowermost swing telescopic body, and a telescopic driving component which can drive the swing telescopic bodies to move along the length direction of the swing telescopic foot is arranged between the robot body and the uppermost swing telescopic body and/or between any two adjacent swing telescopic bodies. The telescopic driving component can flexibly adjust the relative position of the robot body and the swinging telescopic foot or the swinging telescopic body in each swinging telescopic foot, and ensures that the swinging telescopic foot has a larger length adjustment range.
In the above-mentioned swing feet of the multi-legged wheel robot, the swing driving structure is provided between the uppermost swing telescopic body and/or between any two adjacent swing telescopic bodies of the swing telescopic feet among the robot body and the swing telescopic feet, and the swing driving structure is any one of an electric articulated swing driving mechanism, a gear type swing driving mechanism, and a belt wheel type swing driving mechanism. And selecting a driving mode of the swing driving structure according to actual requirements so as to obtain the optimal adjusting effect of the swing telescopic foot.
In the above swing feet of the multi-foot wheeled robot, the telescopic driving assembly includes a first telescopic driving structure disposed between the uppermost swing telescopic body in the swing telescopic feet and the robot body and driving the swing telescopic body to move along the length direction of the swing telescopic feet, and/or a second telescopic driving structure disposed between any two adjacent swing telescopic bodies in the swing telescopic feet and capable of driving the two adjacent swing telescopic bodies to move relatively along the length direction of the swing telescopic feet. The first telescopic driving structure and the second telescopic driving structure are independent and can work independently or synchronously, so that the length adjustment time of the swing telescopic foot is shortened, and the change of the working form of the multi-foot wheeled robot is completed quickly.
In order to achieve another purpose, the invention adopts the following technical scheme: the multi-foot wheeled robot with the swing feet comprises a robot body, wherein at least two groups of wheel type telescopic feet are arranged at the bottom of the robot body and are longitudinally distributed along the robot body at intervals, and the swing telescopic feet are arranged between the two groups of wheel type telescopic feet. The multi-foot wheel type telescopic foot enables the robot body to have good moving stability, and the robot body can be stretched in the vertical direction relative to the robot body, so that the height of the robot body can be flexibly adjusted and maintained, and meanwhile, the robot body is kept in a horizontal state all the time.
In the multi-foot wheeled robot, the number of the wheeled telescopic feet in each group of the wheeled telescopic feet is at least two, and the wheeled telescopic feet in the same group of the wheeled telescopic feet are transversely distributed at intervals along the bottom of the robot body. A plurality of wheel type telescopic feet are added in the transverse direction, the moving stability of the multi-foot wheel type robot is further improved, and when one wheel type telescopic foot fails, other wheel type telescopic feet continue to maintain the multi-foot wheel type robot to move stably.
In the multi-foot wheel type robot, two groups of wheel type telescopic feet which are respectively positioned at the front section and the rear section of the bottom of the robot body are arranged at the bottom of the robot body, each group of wheel type telescopic feet respectively comprises two wheel type telescopic feet, the two wheel type telescopic feet in the same group of wheel type telescopic feet are respectively positioned at two sides of the bottom of the robot body, the swing telescopic feet are positioned between the two groups of wheel type telescopic feet, and the number of the swing telescopic feet is one and is arranged in the middle section of the bottom of the robot body in a centered manner; or the number of the swing telescopic feet is two, and the swing telescopic feet are respectively arranged on two sides of the middle section of the bottom of the robot body in the middle. The swinging telescopic feet can be independently arranged in the middle of the robot body, the robot body is kept stable when the swinging telescopic feet move on a ramp or a step, and the swinging telescopic feet are arranged on two sides of the robot body and positioned in the same longitudinal direction with the wheel type telescopic feet to drive the multi-foot wheel type robot to move forward.
In the multi-foot wheeled robot, the lower end of the wheeled telescopic foot is provided with a wheel body, the wheeled telescopic foot comprises a plurality of wheeled telescopic bodies which are sequentially connected, the robot body is connected with the uppermost wheeled telescopic body, the wheel body is arranged on the lowermost wheeled telescopic body, and a wheeled telescopic driving component which can drive the wheeled telescopic bodies to move along the length direction of the wheeled telescopic foot is arranged between the robot body and the uppermost wheeled telescopic body and/or between any two adjacent wheeled telescopic bodies. The wheel type telescopic body is driven by the wheel type telescopic driving component to adjust the relative position, so that the lifting of the robot body is realized.
Compared with the prior art, the invention has the advantages that: the swing telescopic feet are driven by the swing driving structure to swing in the longitudinal direction relative to the robot body, so that the gravity center position of the multi-legged wheeled robot is adjusted to adapt to various complex road conditions; the telescopic driving assembly and the wheel type telescopic driving assembly independently drive the swinging telescopic foot and the wheel type telescopic foot to stretch, so that the adjusting speed of the height of the robot body is increased; the mounting position of the swing telescopic foot is selected according to actual requirements, so that the multi-foot wheeled robot obtains the optimal movement stability.
Drawings
Fig. 1 is a schematic structural diagram of the first embodiment.
Fig. 2 is a schematic structural diagram of another view angle of the first embodiment.
Fig. 3 is a schematic view of the motion state of the downhill of the first embodiment.
Fig. 4 is a schematic diagram of the movement state of the uphill slope according to the first embodiment.
Fig. 5 is a schematic view showing a moving state on the step of the first embodiment.
Fig. 6 is a schematic structural diagram of the second embodiment.
In the figure, a robot body 1, a mounting base 11, a swing base 12, a swing telescopic foot 2, a swing telescopic body 21, a traveling wheel 3, a swing driving structure 4, a telescopic driving assembly 5, a first telescopic driving structure 51, a second telescopic driving structure 52, a wheel type telescopic foot 6, a wheel type telescopic body 61, a wheel body 62 and a wheel type telescopic driving assembly 7.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Example one
As shown in fig. 1-5, the swing foot of the multi-foot wheeled robot is arranged in the middle section of the bottom of the robot body 1, and comprises a swing telescopic foot 2, the lower end of the swing telescopic foot 2 is provided with a walking wheel 3, and a swing driving structure 4 capable of driving the swing telescopic foot 2 to swing back and forth along the longitudinal direction of the robot body 1 is arranged between the swing telescopic foot 2 and the robot body 1. When the multi-legged wheeled robot goes up a slope, the swinging telescopic feet 2 swing towards the rear of the advancing direction of the robot body 1, and meanwhile, the relative telescopic action of the swinging telescopic feet ensures that the walking wheels 3 are attached to the slope surface; when the multi-legged wheeled robot goes downhill, the swinging telescopic leg 2 swings forward in the advancing direction of the robot body 1. The gravity center of the multi-legged wheeled robot is at a lower position relative to a slope surface by adjusting the swinging position of the swinging telescopic feet 2, and the robot body 1 is kept stable when ascending or descending.
Specifically, the number of the swing telescopic feet 2 is one and is arranged at the bottom of the robot body 1 in the center. When the multi-foot wheeled robot walks on steps, the single swinging telescopic foot 2 swings and simultaneously performs telescopic motion to support the robot body 1 to be horizontal, and the walking wheels 3 rotate or the swinging telescopic foot 2 swings and stretches to drive the multi-foot wheeled robot to move up and down relative to the steps. The swing telescopic foot 2 mainly serves as a pivot for the wheel type telescopic foot 6 and the robot body 1 to move, and assists the multi-foot wheel type robot to climb or go upstairs.
Deeply, the swing range of the swing telescopic foot 2 is an included angle formed between the axial central axis of the swing telescopic foot 2 and the longitudinal central axis of the robot body 1, and the included angle is 0-180 degrees. When the robot body 1 moves in the vertical direction, the swinging telescopic feet 2 swing within the range of 0-180 degrees, and the position of the robot body 1 relative to the walking wheels 3 is adjusted.
Further, the swing telescopic foot 2 comprises a plurality of swing telescopic bodies 21 which are sequentially connected, the robot body 1 is connected with the uppermost swing telescopic body 21, the walking wheels 3 are arranged on the lowermost swing telescopic body 21, and a telescopic driving component 5 which can drive the swing telescopic body 21 to move along the length direction of the swing telescopic foot 2 is arranged between the robot body 1 and the uppermost swing telescopic body 21 and/or between any two adjacent swing telescopic bodies 21. The swing telescopic body 21 is driven by the telescopic driving assembly 5 to move in the axial direction of the swing telescopic foot 2, wherein the telescopic driving assembly 5 is independently driven, so that the swing telescopic foot 2 can be adjusted to different lengths. When the telescopic driving assemblies 5 work simultaneously, the time required by the single telescopic driving assembly 5 to adjust the length of the swing telescopic foot 2 is greatly shortened.
Further, the swing driving structure 4 is disposed between the uppermost swing telescopic body 21 of the robot body 1 and the swing telescopic legs 2 and/or between any two adjacent swing telescopic bodies 21 of the swing telescopic legs 2, and the swing driving structure 4 is any one of an electric articulated swing driving mechanism, a gear type swing driving mechanism, and a belt wheel type swing driving mechanism. The electric joint type swing driving mechanism is small in size and convenient to assemble, and the provided rotating moment is small. The gear type swing driving mechanism and the belt wheel type swing driving mechanism provide large moment, are suitable for a heavy robot body 1, but have poor response rate and adjustment accuracy, and need to select a proper swing driving structure 4 according to actual requirements.
In addition, the telescopic driving assembly 5 includes a first telescopic driving structure 51 disposed between the uppermost telescopic swing body 21 of the telescopic swing feet 2 and the robot body 1 and driving the telescopic swing body 21 to move along the length direction of the telescopic swing feet 2, and/or a second telescopic driving structure 52 disposed between any two adjacent telescopic swing bodies 21 of the telescopic swing feet 2 and driving the two adjacent telescopic swing bodies 21 to move along the length direction of the telescopic swing feet 2. The first telescopic driving structure 51 can quickly adjust the position of the whole swing telescopic foot 2 relative to the robot body 1, and the second telescopic driving structure 52 mainly adjusts the length of the swing telescopic foot 2 and matches the length of the swing telescopic foot 2, so that the swing telescopic foot 2 has a large telescopic adjusting range relative to the joint of the robot body 1.
Specifically, each swing telescopic body 21 is coaxial cup jointing from inside to outside in proper order, first flexible drive structure 51 sets up at robot fuselage 1 and the swing telescopic body 21 that is located the outside between, walking wheel 3 sets up at the swing telescopic body 21 lower extreme that is located the innermost, first flexible drive structure 51 is including connecting mount pad 11 on robot fuselage 1, and through push rod lift drive structure between mount pad 11 and the swing telescopic body 21 that links to each other with robot fuselage 1, any one kind of drive structure in lead screw lift drive structure and the rack and pinion lift drive structure links to each other, swing drive structure 4 sets up between robot fuselage 1 and mount pad 11, and under swing drive structure 4 effects, mount pad 11 can be for robot fuselage 1 circumference swing. The mounting base 11 is fixed relative to the robot body 1, and serves as a base of the first telescopic driving structure 51, and after being matched with the swing driving structure 4, the swing telescopic body 21 connected with the mounting base 11 has a plurality of degrees of freedom.
Finely, each swing telescopic foot 2 is arranged side by side in the transverse direction, the first telescopic driving structure 51 is arranged between the robot body 1 and the swing telescopic body 21 positioned on one side, the walking wheels 3 are arranged at the lower end of the swing telescopic body 21 on the other side, the swing base 12 is arranged between two adjacent swing telescopic bodies 21, the second telescopic driving structure 52 is arranged between one of the two swing telescopic bodies 21 and the swing base 12, the swing driving structure 4 is arranged between the swing base 12 and the remaining one of the swing telescopic bodies 21, and the second telescopic driving structure 52 is any one of a push rod lifting driving structure, a lead screw lifting driving structure and a rack and pinion lifting driving structure. The swing base 12 is fixed with one of the swing telescopic bodies 21, and the second telescopic driving structure 52 drives the other swing telescopic body 21 to move relative to the swing base 12 in a telescopic manner.
A multi-foot wheeled robot with feet swinging of the multi-foot wheeled robot comprises a robot body 1, at least two groups of wheel type telescopic feet 6 which are longitudinally distributed at intervals along the robot body 1 are arranged at the bottom of the robot body 1, and a swinging telescopic foot 2 is arranged between the two groups of wheel type telescopic feet 6. The multiple groups of wheel type telescopic feet 6 are arranged on two sides of the robot body 1, and when the multi-foot wheel type robot moves forwards, the stability of the multi-foot wheel type robot in the transverse direction is kept. When the swing telescopic foot 2 in the middle meets complex road conditions, the walking wheels 3 at the bottom are always attached to the ground.
As can be seen, the number of the wheel-type telescopic feet 6 in each set of wheel-type telescopic feet 6 is at least two, and the wheel-type telescopic feet 6 in the same set of wheel-type telescopic feet 6 are distributed along the bottom of the robot body 1 at intervals in the transverse direction. The plurality of wheel-type telescopic feet 6 are arranged in the same transverse direction, so that the robot body 1 can be favorably reduced in shaking in the transverse direction when the robot runs on the rugged ground.
Preferably, the bottom of the robot body 1 is provided with two sets of wheel type telescopic feet 6 which are respectively positioned at the front section and the rear section of the bottom of the robot body 1, each set of wheel type telescopic feet 6 respectively comprises two wheel type telescopic feet 6, the two wheel type telescopic feet 6 in the same set of wheel type telescopic feet 6 are respectively positioned at two sides of the bottom of the robot body 1, the swing telescopic feet 2 are positioned between the two sets of wheel type telescopic feet 6, and the number of the swing telescopic feet 2 is one and is arranged in the middle of the bottom of the robot body 1. The front wheel type telescopic foot 6 and the rear wheel type telescopic foot 6 are telescopic in the vertical direction relative to the robot body 1, the telescopic adjustable-length robot adapts to pavements with different gradients, and the swing telescopic foot 2 in the middle keeps the robot body 1 horizontal in the adjusting process.
Obviously, the lower end of the wheel-type telescopic foot 6 is provided with a wheel body 62, the wheel-type telescopic foot 6 comprises a plurality of wheel-type telescopic bodies 61 which are sequentially connected, the robot body 1 is connected with the uppermost wheel-type telescopic body 61, the wheel body 62 is arranged on the lowermost wheel-type telescopic body 61, and a wheel-type telescopic driving assembly 7 which can drive the wheel-type telescopic body 61 to move along the length direction of the wheel-type telescopic foot 6 is arranged between the robot body 1 and the uppermost wheel-type telescopic body 61 and/or between any two adjacent wheel-type telescopic bodies 61. The wheel type telescopic driving assembly 7 selects any one of a push rod lifting driving structure, a lead screw lifting driving structure and a gear rack lifting driving structure, independent driving motors are installed in the wheel body 62 and the walking wheels 3, and the multi-legged robot can turn by differentiating or adjusting the circumferential angle relative to the wheel type telescopic feet 6.
Example two
As shown in fig. 6, the structure, principle and implementation steps of the present embodiment are similar to those of the present embodiment, except that the number of the swing telescopic feet 2 is two or more and is centrally disposed at the bottom of the robot body 1, and the swing telescopic feet 2 are laterally spaced along the bottom of the robot body 1. The swing telescopic feet 2 are arranged on two sides of the robot body 1, and can play a role in assisting in adjusting the motion state and ensure the stability of the multi-legged robot in the transverse direction in the adjusting process.
In summary, the principle of the present embodiment is: the swing telescopic feet 2 swing relative to the robot body 1 in the longitudinal direction of the advancing direction, and meanwhile, the swing telescopic feet 2 and the wheel type telescopic feet 6 which are vertically arranged can adjust the length of the robot relative to the robot body 1, so that the multi-legged robot is suitable for slopes with different slopes or steps with different heights, and has good road surface adaptability.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Although the terms of the robot body 1, the mounting base 11, the swing base 12, the swing telescopic foot 2, the swing telescopic body 21, the road wheels 3, the swing driving structure 4, the telescopic driving assembly 5, the first telescopic driving structure 51, the second telescopic driving structure 52, the wheel type telescopic foot 6, the wheel type telescopic body 61, the wheel body 62, the wheel type telescopic driving assembly 7, etc. are used more herein, the possibility of using other terms is not excluded. These terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed as being without limitation to any additional limitations that may be imposed by the spirit of the present invention.
Claims (2)
1. A swing foot of a multi-foot wheeled robot is arranged at the middle section of the bottom of a robot body (1) and is characterized by comprising a swing telescopic foot (2), wherein a walking wheel (3) is arranged at the lower end of the swing telescopic foot (2), and a swing driving structure (4) capable of driving the swing telescopic foot (2) to swing back and forth along the longitudinal direction of the robot body (1) is arranged between the swing telescopic foot (2) and the robot body (1); the robot comprises a robot body (1), a walking wheel (3) and a telescopic driving assembly (5), wherein the robot body (1) is connected with the uppermost telescopic swing body (21), the walking wheel (3) is arranged on the lowermost telescopic swing body (21), and the telescopic driving assembly (5) capable of driving the telescopic swing body (21) to move along the length direction of the telescopic swing foot (2) is arranged between the robot body (1) and the uppermost telescopic swing body (21) and between any two adjacent telescopic swing bodies (21); the swing driving structure (4) is arranged between the uppermost swing telescopic body (21) and any two adjacent swing telescopic bodies (21) of the swing telescopic feet (2) in the robot body (1) and the swing telescopic feet (2), and the swing driving structure (4) is any one of an electric joint type swing driving mechanism, a gear type swing driving mechanism and a belt wheel type swing driving mechanism; the number of the swing telescopic feet (2) is one, and the swing telescopic feet are arranged at the bottom of the robot body (1) in the middle; or the number of the swing telescopic feet (2) is at least two, the swing telescopic feet are arranged at the bottom of the robot body (1) in the middle, and the swing telescopic feet (2) are transversely distributed at intervals along the bottom of the robot body (1); the swing range of the swing telescopic foot (2) is an included angle formed between an axial central axis of the swing telescopic foot and a longitudinal central axis of the robot body (1), and the included angle is 0-180 degrees; the telescopic driving assembly (5) comprises a first telescopic driving structure (51) which is arranged between the uppermost swing telescopic body (21) in the swing telescopic foot (2) and the robot body (1) and drives the swing telescopic body (21) to move along the length direction of the swing telescopic foot (2), and a second telescopic driving structure (52) which is arranged between any two adjacent swing telescopic bodies (21) in the swing telescopic foot (2) and can drive the two adjacent swing telescopic bodies (21) to move relatively along the length direction of the swing telescopic foot (2).
2. A multi-foot wheeled robot with swing feet of the multi-foot wheeled robot is characterized by comprising a robot body (1), wherein at least two groups of wheel type telescopic feet (6) are arranged at the bottom of the robot body (1) and are longitudinally distributed along the robot body (1) at intervals, and the swing telescopic feet (2) are arranged between the two groups of wheel type telescopic feet (6); the lower end of the wheel type telescopic foot (6) is provided with a wheel body (62), the wheel type telescopic foot (6) comprises a plurality of wheel type telescopic bodies (61) which are sequentially connected, the robot body (1) is connected with the uppermost wheel type telescopic body (61), the wheel body (62) is arranged on the lowermost wheel type telescopic body (61), and wheel type telescopic driving components (7) capable of driving the wheel type telescopic bodies (61) to move along the length direction of the wheel type telescopic foot (6) are arranged between the robot body (1) and the uppermost wheel type telescopic body (61) and between any two adjacent wheel type telescopic bodies (61); the number of the wheel type telescopic feet (6) in each group of wheel type telescopic feet (6) is at least two, and the wheel type telescopic feet (6) in the same group of wheel type telescopic feet (6) are transversely distributed at intervals along the bottom of the robot body (1); the robot comprises a robot body (1), wherein two groups of wheel type telescopic feet (6) which are respectively positioned at the front section and the rear section of the bottom of the robot body (1) are arranged at the bottom of the robot body (1), each group of wheel type telescopic feet (6) respectively comprises two wheel type telescopic feet (6), the two wheel type telescopic feet (6) in the same group of wheel type telescopic feet (6) are respectively positioned at two sides of the bottom of the robot body (1), a swing telescopic foot (2) is positioned between the two groups of wheel type telescopic feet (6), and the number of the swing telescopic feet (2) is one and is centrally arranged at the middle section of the bottom of the robot body (1); or the number of the swing telescopic feet (2) is two, and the two swing telescopic feet are respectively arranged on two sides of the middle section of the bottom of the robot body (1) in the middle.
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| CN202010885432.0A CN112141234B (en) | 2020-08-28 | 2020-08-28 | Foot swinging of multi-foot wheeled robot and multi-foot wheeled robot |
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| CN202010885432.0A CN112141234B (en) | 2020-08-28 | 2020-08-28 | Foot swinging of multi-foot wheeled robot and multi-foot wheeled robot |
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| CN112141234B true CN112141234B (en) | 2022-05-17 |
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| US4834200A (en) * | 1986-12-15 | 1989-05-30 | Agency Of Industrial Science & Technology | Method and apparatus for dynamic walking control of robot |
| CN1107111A (en) * | 1994-02-20 | 1995-08-23 | 冯建光 | Hydraulic walking vehicle |
| RU2435693C1 (en) * | 2010-07-19 | 2011-12-10 | Государственное образовательное учреждение высшего профессионального образования Волгоградский государственный технический университет (ВолгГТУ) | Cross-country walking propeller |
| CN104176143A (en) * | 2014-08-09 | 2014-12-03 | 河北工业大学 | Wheeled mobile robot platform |
| CN109733496A (en) * | 2018-11-30 | 2019-05-10 | 西安电子科技大学 | The sufficient wheel leg transform autonomous robot of one kind six |
| CN110371212A (en) * | 2019-07-31 | 2019-10-25 | 武汉科技大学 | Barrier-surpassing robot and its obstacle-detouring method |
| CN210761038U (en) * | 2019-08-12 | 2020-06-16 | 诸暨市蓝了电子科技有限公司 | Tiltable wheel type foot of multi-foot wheel type robot |
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