Rocker type four-wheel robot

Abstract

The invention relates to a rocker type four-wheel robot comprising a main box body, a differential balancer, a left rocker, a right rocker and wheels, wherein the shell of the differential balancer is fixedly connected with the main box body of the rocker type four-wheel robot, and two projecting shafts of the differential balancer are respectively connected with the two rockers positioned at both sides of the man box body; two landing legs are connected with a connection joint at a certain included angle, and the tail ends of the landing legs are connected with conical gear tumblers; the landing legs are in a cylinder shape and internally provided with reducing motors, the reducing motors are connected with input bevel gears of the conical gear tumblers connected to the tail ends of the landing legs, and the wheels are connected with output shaft coaxial lines of the conical gear tumblers; the upper ends of the landing legs are provided with holes, a power supply of the reducing motors and control cables penetrate through the holes, and the control cables are introduced into the main box body of the rocker type four-wheel robot through a cable introducing device arranged on the main box body of the rocker type four-wheel robot. The rocker type four-wheel robot can be adapted to uneven terrains and can be used as a movable robot platform for outdoor search, environment detection and search and rescue after disasters.

Description

Technical field [0001] The invention relates to a rocker type four-wheel robot, which belongs to the field of mobile robot mechanism design. Background technique [0002] Mobile robot with rocker structure is an important research direction in the field of mobile robot. The principle prototypes of a large number of planetary exploration robots such as the Rock series and FIDO developed in the United States, as well as the Mars rovers such as "Sojourner" and "Spirit" that successfully landed on Mars, all use a 6-wheel independently driven rocker suspension mobile system. Most of the wheel drive motors of the current rocker suspension type mobile system are connected with the coaxial center of the wheels, so that the motors will stretch out from the wheels and easily collide with obstacles when moving on complex ground. The 6-wheel independently driven rocker suspension robot is not easy to use differential steering, so it needs to use an independent steering motor to realize...

AI Technical Summary

Problems solved by technology

Most of the wheel drive motors of the current rocker suspension type mobile system are connected with the coaxial center of the wheel, so that the motor will extend out of the wheel, and it is easy to collide with obstacles when moving on complex ground

The 6-wheel independently driven rocker suspension robot is not easy to use differential steering, so it needs to use an independent steering motor to realize the steering of the robot, so the structure is complicated

The connecting rod balance mechanism is generally arranged outside the main body casing of the robot, which brings inconvenience to the structural design of the robot.

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