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

A mobile robot and two-wheel drive technology, applied in the field of robotics, can solve the problems of fixed body configuration and invariable wheelbase, and achieve strong environmental adaptability, low cost, and good stability

Inactive Publication Date: 2011-04-06
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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

Method used

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

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Embodiment Construction

[0025] In order to better understand the present invention, the present invention will be further described below in conjunction with the accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0026] The robot of the present invention adopts five joints, including two I-type joints and three T-type joints, with two wheels at both ends. Each part is connected sequentially in series, the sequence is: wheel-I-joint-T-joint-T-joint-T-joint-I-joint-wheel, that is, there are three T-joints in the middle and one I-joint at each end. type joints. The rotation axes of the three T-joints are parallel to each other and perpendicular to the rotation axes of the I-type joints at both ends. The specific composition of the robot includes: two I-shaped joint modules, three T-shaped joint modules, two wheel modules, a connecting sleeve and a universal wheel. The universal wheels are fixed on the connecting sleeve in the middle of the robot through conn...

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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 ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/00
Inventor 管贻生张宪民江励
Owner SOUTH CHINA UNIV OF TECH
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