Minitype wheel/caterpillar structure-variable mobile-search reconnaissance robot

A mobile search and robot technology, applied in the field of new mobile robots, can solve the problems of low moving speed, huge robot, complex robot structure, etc., and achieve the effect of being easy to carry by a single person, strong obstacle surmounting ability, and simple structure

Inactive Publication Date: 2009-11-04
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] For wheeled mobile robots, it has the characteristics of flexible and fast movement, but if there are large ravines or large bumps on the road, the robot will not be able to pass through
For tracked mobile robots, it has a strong ability to overcome obstacles and has good adaptability to the road environment, but its moving speed is relatively low.
At present, in order to enable the robot to move quickly and overcome obstacles, the general method is to install wheels and tracks on the robot, which will make the structure of the robot huge and increase the weight of the robot. In the case of high-capacity batteries, the working time of the robot is relatively reduced
Another method is to install the legged mobile mechanism on the wheels, but this will cause the structure of the robot to become more complicated

Method used

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  • Minitype wheel/caterpillar structure-variable mobile-search reconnaissance robot
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  • Minitype wheel/caterpillar structure-variable mobile-search reconnaissance robot

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Experimental program
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Effect test

Embodiment approach 1

[0017] Embodiment 1: Combining the attached figure 1 and figure 2 The structural features that the mobile robot that uses the wheel / track change structure movement principle and method thereof in the present invention should include: an inner wheel 1 with teeth, an outer wheel 2 with teeth, a new type of elastic track 3, and a wheel / track change Mechanism 4, the gear 5 connected with the mobile driving motor, the elastic metal sheet 6, the surveillance camera 7, the tail swing rod 8, the robot body box 9 and the rotation shaft 10 of the tail swing rod 8 connected with the swing motor, in addition the robot system It also includes a computer control system and a remote control system of the robot body. The robot system has five motors in total, two of which drive the robot's wheel / shoe moving mechanism, which can realize the robot's forward, backward and turning; the other two motors respectively control the retraction and release of the robot's two sets of wheel / shoe moving ...

Embodiment approach 2

[0019] Embodiment 2: Combining the attached figure 1 and figure 2 The structural features that the mobile robot that uses the wheel / track change structure movement principle and method thereof in the present invention should include: an inner wheel 1 with teeth, an outer wheel 2 with teeth, a new type of elastic track 3, and a wheel / track change Mechanism 4, the gear 5 that is connected with the mobile drive motor, elastic metal sheet 6, reconnaissance camera 7, fork 8, the rotating shaft 10 of the tail fork 8 that robot body casing 9 and is connected with swing motor, in addition this robot system also Including the computer control system and the remote control system of the robot body. The robot system has five motors in total, two of which drive the robot's wheel / shoe moving mechanism, which can realize the robot's forward, backward and turning; the other two motors respectively control the retraction and release of the robot's two sets of wheel / shoe moving mechanisms a...

Embodiment approach 3

[0021] Embodiment 3: Combining the attached figure 1 and figure 2 The structural features that the mobile robot that uses the wheel / track change structure movement principle and method thereof in the present invention should include: an inner wheel 1 with teeth, an outer wheel 2 with teeth, a new type of elastic track 3, and a wheel / track change Mechanism 4, the gear 5 connected with the mobile driving motor, the elastic metal sheet 6, the surveillance camera 7, the tail swing rod 8, the robot body box 9 and the rotation shaft 10 of the tail swing rod 8 connected with the swing motor, in addition the robot system It also includes a computer control system and a remote control system of the robot body. The robot system has five motors in total, two of which drive the robot's wheel / shoe moving mechanism, which can realize the robot's forward, backward and turning; the other two motors respectively control the retraction and release of the robot's two sets of wheel / shoe moving ...

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Abstract

The invention relates to a minitype wheel/caterpillar structure-variable mobile-search reconnaissance robot, which mainly comprises a case, road wheels, an electric motor, an interconversion mechanism that can carry out mobile interconversion between the wheel type and caterpillar type, an elastic caterpillar, a running gear, a reconnaissance device, a mobile driving mechanism, a self-locking mechanism and a robot case, wherein, the rear part of the robot case is provided with a universal wheel, the robot case and the reconnaissance device are connected through a live shaft to form a robot. The robot has the characteristics of both the quick movement of a wheel type mobile robot and good through-obstacle capability of a caterpillar type mobile robot, namely that the robot adopts the wheel type movement to get fast-moving performance under good ground condition, and can change the motion mode of the motion mechanism into the caterpillar type movement that has favorable through-obstacle capability under poor ground conditions such as meeting with obstacles, stairway or non-hard road surface.

Description

technical field [0001] The present invention relates to a new mobile robot mechanism and its implementation method, which adopts the integration of wheel type movement mode and crawler type movement mode, reconfigurable movement mechanism, and is used for searching and reconnaissance in unknown environments. A new type of mobile robot with a crawler structure. Background technique [0002] Mobile robot is a comprehensive system that integrates various technologies such as motion mechanism, environment perception, dynamic decision-making and planning, behavior control and execution. Among them, wheeled mobile robots and crawler mobile robots are the most representative. As a mobile carrier, mobile robots can perform tasks in environments such as home service, material handling, post-disaster search and rescue, military reconnaissance, mine clearance, and nuclear, chemical, and biological pollution. [0003] For wheeled mobile robots, it has the characteristics of flexible a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D55/04
Inventor 高学山李科杰
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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