The invention provides a few-degree-of-freedom wheel-foot type omnidirectional quadruped robot, and relates to the field of robots, the wheel-foot type omnidirectional quadruped robot comprises a rackand four walking units; each walking unit comprises a first driving device, a second driving device, a third driving device, a shank part, a thigh part, an eccentric rotating part, a movable connecting assembly and a roller, wherein the first driving device is connected with the rack and the upper end of the thigh part, and the movable connecting assembly is rotationally connected with the thighpart and is in sliding fit with the shank part. Each second driving device is arranged at the upper end of the thigh part, and the third driving device is connected with the lower end of the thigh part and the rollers. The advancing direction of the quadruped robot is changed through the first driving devices, so that the quadruped robot can advance towards any direction, and omnidirectional displacement is achieved; the shank parts are driven by the second driving devices to move in a vertical plane, so that foot-type walking of the quadruped robot is achieved; the third driving devices drivethe rolling wheels to rotate, and wheel type walking of the quadruped robot is achieved.
本发明提供一种少自由度轮足式全向四足机器人,涉及机器人领域,轮足式全向四足机器人包括机架和四个行走单元,行走单元包括第一驱动装置、第二驱动装置、第三驱动装置、小腿件、大腿件、偏心转动件、活动连接组件和滚轮;第一驱动装置分别与机架、大腿件的上端连接,活动连接组件与大腿件转动连接,且与小腿件滑动配合;第二驱动装置设置于大腿件的上端,第三驱动装置分别与大腿件的下端、滚轮连接。通过第一驱动装置改变四足机器人的行进方向,使四足机器人能够朝任意方向行进,实现全向位移;通过第二驱动装置驱动小腿件在竖直平面内运动,实现四足机器人的足式行走;通过第三驱动装置驱动滚轮转动,实现四足机器人的轮式行走。
Few-degree-of-freedom wheel foot type omnidirectional quadruped robot
一种少自由度轮足式全向四足机器人
2021-04-02
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Passive type two-degree-of-freedom foot device of quadruped robot
European Patent Office | 2022
|Wheel-foot combined type quadruped robot with suspension
European Patent Office | 2024
|