Mobile robot and obstacle surmounting method thereof

A mobile robot and robot technology, applied in motor vehicles, tracked vehicles, transportation and packaging, etc., can solve the problem of insufficient ability of robots to overcome obstacles, and achieve the effect of improving the ability to overcome obstacles, large friction coefficient, and not easy to slide down.

Inactive Publication Date: 2009-07-29
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problem of insufficient ability of existing robots to overcome obstacles, the object of the present invention is to provide a mobile robot that improves the height of obstacles and is easy to operate and control, and its method for overcoming obstacles

Method used

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  • Mobile robot and obstacle surmounting method thereof
  • Mobile robot and obstacle surmounting method thereof
  • Mobile robot and obstacle surmounting method thereof

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Embodiment Construction

[0027] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0028] Such as Figure 4 , Figure 5 As shown, the mobile robot of the present invention is a swing rod type single-section crawler mobile robot. The center of gravity of the robot is on the box body supported by the crawler belt. Front and rear pulleys 3,7 connected by crawler belt 4. The front end in the casing 2 is provided with two pulley motors 1, which are connected with the front pulleys 3 on both sides of the casing through output shafts respectively, and drive the front pulleys 3 to rotate. In order to contribute to the rotation of the front pulley 3, a bearing is installed between the two front pulleys 3 and the output shaft of the pulley motor 1 respectively, and is sleeved on the output shaft of the motor. The rear end at casing 2 is provided with swing leg rotating shaft 9, and it passes by casing 2 and the rear pulley 7 of this end, and swing...

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Abstract

The invention relates to a robot project, in particular to a mobile robot needing surmounting obstacles and an obstacle surmounting method thereof. The robot comprises a box body and front and back belt wheels which are arranged on both sides of the boxy body and connected through a caterpillar band. One end in the box body is provided with a belt wheel motor which is connected with the belt wheels on the both sides of the box body respectively, while the other end is provided with a leg-swinging gyro shaft, the box body and the back belt wheel on the end pass through the leg-swinging gyro shaft, two ends of the leg-swinging gyro shaft outside the box body are all provided with swing legs, and a leg-swinging motor connected with the leg-swinging gyro shaft is arranged in the box body on the end. The method comprises that: swing legs rotate until a robot body overturns around the leg-swinging gyro shaft; the leg-winging motor reversely rotates to drive the swing legs to reversely rotate until the body is separated from the ground; the belt wheel motor works to make the robot move to the obstacle until the caterpillar band is against the upper edge of the obstacle; and the swing legs continuously rotate reversely, and simultaneously the robot is moved until the gravity center of the robot surpasses the upper edge of the obstacle to climb over the obstacle. The mobile robot has the characteristics of simple structure, easy operation, and the like.

Description

technical field [0001] The invention relates to robot engineering, in particular to a mobile robot that needs to overcome obstacles and a method for overcoming obstacles. Background technique [0002] At present, there are single-segment crawler mobile robots and two-segment crawler mobile robots that are currently used more. [0003] The single-section crawler mobile robot drives the pulleys on both sides of the box to mesh with the track through the motor, so that the robot can move, climb stairs or overcome obstacles. This single-section crawler mobile robot can only cross over shorter obstacles (compared with the volume weight of the robot itself) when crossing obstacles, and it is not stable when going up and down stairs, and it is easy to fall over. [0004] Two-section crawler mobile robot, the front section of the crawler is used as a swing leg, which can be driven independently. The movement of the robot is controlled by the main driving wheel, and the swing leg i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D55/075
Inventor 王忠李小凡姚辰罗宇
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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