Track-leg combined ground robot
A technology of robots and mobile robots, applied in the field of robots, to achieve the effect of simple crawling action, solving the difficulty of climbing and surmounting obstacles, and reducing complexity
Inactive Publication Date: 2011-06-22
BEIJING INSTITUTE OF TECHNOLOGYGY
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[0005] The purpose of the embodiments of the present invention is to address the defects of the above-mentioned prior art, and provide a ground mobile robot that not only solves the problem of difficulty in climbing and overcoming obstacles, but also reduces the complexity of the structure.
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[0014] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but not as a limitation of the present invention.
[0015] Such as Figure 1-2 As shown, a crawler leg combined ground robot includes a six-tracked vehicle body 6 . In this example, a car body with six crawlers is used. In actual implementation, a car body with two or more tracks can also be used as long as the number of crawlers is an even number. pole.
[0016] Such as Figure 1-2 As shown, two wheels 5 are respectively provided on one side of the vehicle body 6, and cross arms 7 are respectively provided at the front and rear ends of the vehicle body 6. The ends of the cross arms 7 are respectively provided with swing arm wheels 4 . The swing arm wheels 4 at the front end and the rear end of the vehicle body 6 are respectively connected with the matching motors 2 . One side of the car body 6 is respectively provided with three groups of c...
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The invention discloses a track-leg combined ground moving robot, which comprises a multi-track vehicle body. Two wheels are arranged on two sides of the vehicle body; a cross arm is arranged at the end part of the vehicle body; an arm oscillating wheel is arranged at the end part of each cross arm; the arm oscillating wheel arranged at the end of the vehicle body is connected with a motor matched with the arm oscillating wheel; the tracks are respectively sleeved between the arm oscillating wheels and the wheels and between the wheels; a supporting rod is arranged on the cross arm arranged at the end part of the vehicle body; the supporting rods form the legs of the ground robot; and the supporting rod is electrically connected with the motor which is nearest to the supporting rod. Sincethe legs of the robot are retracted to be close to the inner sides of the front and rear cross arms in normal times, the robot moves in a track mode, and when the robot meets an obstacle which is difficult to be climbed over, the robot outstretches the legs to move in a climbing mode, and the climbing ability of the robot is enhanced. The robot adopts the multi-track structure, legs formed by supporting rods are increased, and compared with a standard leg, the leg has simple structure, simple climbing action and easy realization of the mechanism, therefore, the structural complexity is effectively reduced.
Description
technical field [0001] The invention relates to a robot, in particular to a ground robot combined with legs. Background technique [0002] The ground mobile robot is a new type of robot proposed in the 1990s. Due to its broad application prospects in dangerous and harsh environments such as military reconnaissance, anti-terrorism, anti-riot, anti-nuclearization and pollution, it has quickly become an important Research hotspots. [0003] The obstacle-surmounting ability of ground mobile robots is one of the core technologies of mobile robots. How to improve the obstacle-surmounting ability of robots in complex environments is the goal pursued by people. Although increasing the function of the mechanical structure can improve the obstacle-surmounting ability, it increases the weight and volume at the same time, so it does not meet the design requirements of the ground mobile robot. [0004] At present, the kinematic structures of ground mobile robots mainly include six-trac...
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IPC IPC(8): B62D57/028
Inventor 高峻峣高学山徐坤
Owner BEIJING INSTITUTE OF TECHNOLOGYGY