Wheel-foot hybrid operation robot

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Wheel-foot hybrid operation robot

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LI YANBIAO / DAI XIANYONG / ZHANG CONG / SUN PENG / WANG ZESHENG

According to the technical scheme, the wheel-foot hybrid operation robot is characterized by comprising a mechanical arm assembly, a dynamic balance device and a movable chassis truck, the dynamic balance device is kept in a horizontal state in real time when the robot runs, and the mechanical arm assembly is installed on the movable chassis truck through the dynamic balance device. The mobile chassis truck has two modes, namely a foot mode and a wheel mode, and when the wheel mode is in a terrain which is difficult to pass or tasks are difficult to complete, the foot mode is adopted for operation. The foot type structure is provided with four or more leg structures, and each leg structure comprises a hip joint, a thigh, a knee joint, a shank and a foot end. According to the invention, switching between a wheel-type mode and a foot-type mode can be realized, and switching between the foot-type mode and the wheel-type mode can be realized by adjusting the pose of the foot-type structure.

本发明公开了一种轮足混合式作业机器人，其技术方案要点是包括机械臂总成、动态平衡装置以及移动底盘车，动态平衡装置在机器人运行时实时保持水平状态，机械臂总成通过动态平衡装置安装在移动底盘车上。移动底盘车拥有两种模式：足式模式与轮式模式，当遇到轮式模式难以通过的地形或者难以完成任务时，采用足式模式运行。足式结构有四个及四个以上的腿部结构，腿部结构包含髋关节、大腿、膝关节、小腿以及足端。本发明能够在轮式模式与足式模式之间相互转换，通过调整足式结构的位姿来实现足式模式与轮式模式的转换。