Shrimp-shaped six-wheel mobile robot

A mobile robot and steering motor technology, applied in the field of machinery, can solve problems such as subsidence and insufficient load capacity, achieve strong obstacle crossing ability, realize turning operation, and simplify the control system.

Inactive Publication Date: 2009-03-11
SHANDONG UNIV OF SCI & TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, when the six-wheeled lunar rover has a certain weight on its body, it will ...

Method used

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  • Shrimp-shaped six-wheel mobile robot
  • Shrimp-shaped six-wheel mobile robot
  • Shrimp-shaped six-wheel mobile robot

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Embodiment Construction

[0020] Such as figure 1 As shown, the present invention comprises: head 1, abdomen 2, flank 3 and tail 4 four parts, and its connection mode is: head 1 and abdomen 2 are hinged, left and right two flanks 3 are respectively hinged at abdomen 2, tail 4 and tail Belly 2 hinged. Among them, the head 1 includes: short crank plate 8, crank plate connecting cylinder 7, bolt 6, head torsion spring 5, long crank plate 9, connecting rod plate 10, connecting rod mounting block 11, steering motor mounting plate 13, steering Motor 12, steering sleeve 14, screw 15, L-shaped support plate 16, drive motor 18, wheel 17. Two short crank plates 8 clamp the crank plate connecting cylinder 7 at the round holes at both ends, one end forms a rotating pair with the head connection block of the abdomen through the bolt 6, and the other end forms a rotating pair with the two connecting rods 10 through the bolt 6 . Two long crank plates 9 clamp the crank plate connecting cylinder 7 at the round holes...

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Abstract

The invention relates to a shrimp-shaped six-wheeled moving robot which can fit for complex road conditions automatically, has stronger capacity for crossing obstacle and belongs to the mechanical field. The shrimp-shaped six-wheeled moving robot consists of a head part, an abdomen part, lateral wings and a tail part, and the shape likes a shrimp; the head part is articulated with the front wall of the abdomen part; the left lateral wing and the right lateral wing are respectively articulated with the left side and the right side of the abdomen part; the tail part is articulated with the back wall of the abdomen part; the head part is a four bar mechanism; the end of a connecting rod is equipped with a wheel which is driven by a drive motor and realizes the turning by a turning motor; each lateral wing is a parallelogram mechanism, and each parallelogram mechanism is provided with two legs; two wheels are respectively installed at the ends of the legs and are respectively driven by a drive motor; and the end of the abdomen part is equipped with a wheel which is driven by a drive motor and realizes the turning by a turning motor. The shrimp-shaped six-wheeled moving robot can cross the vertical stage 1.5 and 2 times higher than the diameter of the wheel, has stronger bearing capacity and higher mechanism efficiency and can make the turning movement with the gyration radius which is zero approximately.

Description

technical field [0001] The invention relates to a mobile robot, in particular to a six-wheeled robot capable of automatically adapting to complex road conditions and having a strong ability to overcome obstacles, belonging to the field of machinery. Background technique [0002] At present, the application fields of robot technology are constantly expanding, such as planetary exploration, explosives investigation, rescue work, etc., which makes the research of obstacle-crossing robots more and more important. The main goal of researching obstacle-surmounting robots is to improve the robot's ability to overcome obstacles while reducing the difficulty of robot control. Many mobile robots have a certain ability to overcome obstacles, but these mobile robots are generally difficult to overcome vertical steps exceeding the wheel diameter, or have strong obstacle-surmounting ability, but they need to actively overcome obstacles and cannot automatically overcome obstacles. Obstacl...

Claims

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Application Information

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IPC IPC(8): B62D57/028B62D61/10
Inventor 曹冲振王凤芹张华宇李玉善张吉亮赵春雨庄佳兰
Owner SHANDONG UNIV OF SCI & TECH
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