The invention belongs to the field of robots, and provides a double-wheel-foot robot and a control method thereof.The double-wheel-foot robot comprises a trunk support, wheel foot assemblies are symmetrically arranged on the two sides of the rear end of the trunk support, and mechanical arm assemblies are symmetrically installed on the two sides of the front end of the trunk support; leg driving mechanisms of the wheel and foot assemblies are connected with the two sides of the rear end of the trunk support, leg driving motors in the leg driving mechanisms are fixed to the supporting plate, and first gears are installed at the tail ends of the leg driving motors; the supporting plate is rotationally connected with the thigh connecting rod through a first bearing shaft, and the supporting plate is rotationally connected with the gear fixing plate through a second bearing shaft. The thigh connecting rod is connected with the second gear, a third gear and a fourth gear are installed on the gear fixing plate, the leg driving motor is in internal meshing transmission with the third gear through the first gear, and the thigh connecting rod is in external meshing transmission with the fourth gear through the second gear. The overall installation size is reduced, meanwhile, the output torsion is increased, and the leg output strength is improved.

    本发明属于机器人领域,提供了一种双轮足机器人及其控制方法,包括躯干支架,在躯干支架的后端两侧对称地设置有轮足总成,在躯干支架的前端两侧对称安装有机械臂组件;轮足总成的腿部驱动机构与躯干支架的后端两侧连接,腿部驱动机构中的腿部驱动电机固定在支撑板上,腿部驱动电机的末端安装有第一齿轮;所述支撑板通过第一轴承轴与大腿连杆转动连接,所述支撑板通过第二轴承轴与齿轮固定板转动连接;大腿连杆与第二齿轮连接,齿轮固定板上安装有第三齿轮和第四齿轮,腿部驱动电机通过第一齿轮与第三齿轮内啮合传动,大腿连杆通过第二齿轮和第四齿轮外啮合传动。本发明缩小整体安装尺寸的同时增大输出扭力,提高腿部输出力量。


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    Title :

    Double-wheel-foot robot and control method thereof


    Additional title:

    一种双轮足机器人及其控制方法


    Contributors:
    ZHANG YUANSHUAI (author) / XU HONG (author) / XUE LIN (author) / ZHANG DIANLEI (author) / XUAN DONG (author)

    Publication date :

    2024-09-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL / B62D MOTOR VEHICLES , Motorfahrzeuge



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