Modular double-wheel driven mobile robot capable of changing wheel span and wheel direction

Abstract

The invention discloses a modular double-wheel-driven mobile robot with a variable wheel track and variable wheel direction. The robot consists of five joint modules, two wheels and a universal wheel. Each joint module has a rotating freedom degree and is driven by a DC servo motor. The joint module has two types, i.e., I type and T type; and joint rotating shafts thereof are respectively parallel and vertical to the axis of a joint connecting rod. All the modules are sequentially connected in series: the wheel-the I type joint-the T type joint-the T type joint-the T type joint-the I type joint-the wheel, and the universal wheel is arranged under the middle part of the robot. The rotating shafts of the three T type joints are parallel to each other, and vertical to the rotating shafts of the I type joints at the two ends. The I type joints drive the wheels to rotate, thus causing the whole robot to move. By changing intersection angles of the T type joints, the wheel track and the wheel direction can be adjusted. The robot is characterized by variable configuration, adjustable wheel track and wheel direction, simple structure, strong flexibility and mobility, good adaptability to the environment and the like. The robot can be used for operations such as carrying, detection, disaster relief and the like.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a two-wheel-drive three-wheel mobile robot with variable body configuration, wheel base and wheel direction constructed by a modular method. Background technique [0002] Mobile robot is the earliest and most widely used type of robot at home and abroad, and it is an enduring hot spot in robot research. It is the mobility of mobile robots that greatly expands the range of activities and application fields of robots. Mobile robots include robots in various mobile forms such as wheeled, crawler, and footed. Crawler-type mobile robots are driven by crawler tracks and have a large contact surface. They are especially suitable for moving on unstructured or soft sand and other grounds, and have good obstacle and cross-country performance. However, the required driving force of this robot is large, the energy consumption is high; the structure is complex, and the volume and weight are ...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to overcome the shortcomings of current wheeled mobile robots, such as fixed body configuration and unchangeable wheelbase, and provide a modular wheeled robot for improving the mobility and flexibility of the mobile robot and enhancing the adaptability to the environment. Two-wheel drive mobile robot with variable pitch and direction

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