Wheel-pendulum compound driving device for small mobile robot

Abstract

The invention discloses a wheel-pendulum compound driving device for a small mobile robot. Two motors are diagonally fixed at both ends of the bottom plate, and the wheels are driven by synchronous belt pulleys, wherein the two pulleys on the same side pass through the motors installed on the same side For driving, the two pulleys are connected through a synchronous belt, so that the trolley can realize four-wheel drive and the turning direction of the trolley can be realized by controlling the rotation direction of the two motors, so as to save the turning radius and movement space; the middle part of the trolley is equipped with a swing arm , the swing arm includes inner and outer connecting plates, bearings, synchronous belts and synchronous pulleys, which are driven by a motor installed in the middle of the trolley through gear transmission, and can play the role of auxiliary legs and crawlers when passing through larger obstacles. Improve its ability to overcome obstacles.

Description

technical field [0001] The invention belongs to the field of robot technology and automation, in particular to a wheel-pendulum compound driving device for a small mobile robot. Background technique [0002] At present, in the motion mechanism of mobile robots, wheeled, crawler and footed mechanisms are generally used. Wheeled mobile robots have the characteristics of simple structure, fast moving speed and easy manipulation, but they are not suitable for crossing obstacles such as steps and ravines; Tracked robots have high traversing ability and good environmental adaptability in natural environments such as soft and uneven terrain, but have high frictional resistance and high energy consumption; legged mobile robots have high mobility and are easy to adapt All kinds of complex ground environments, but the mechanism and control are more complicated and expensive. In recent years, many scholars have carried out research on mobile robots based on composite mechanisms, but m...

AI Technical Summary

Problems solved by technology

[0002] At present, in the motion mechanism of mobile robots, wheeled, crawler and footed mechanisms are generally used. Wheeled mobile robots have the characteristics of simple structure, fast moving speed and easy manipulation, but they are not suitable for crossing obstacles such as steps and ravines; Tracked robots have high traversing ability and good environmental adaptability in natural environments such as soft and uneven terrain, but have high frictional resistance and high energy consumption; legged mobile robots have high mobility and are easy to adapt A variety of complex ground environments, but the mechanism and control are complex and expensive

In recent years, many scholars have carried out research on mobile robots based on composite mechanisms, but many of them only combine wheeled, legged or tracked, legged mechanisms together. Yao Yanan, Shi Kan and others from Beijing Jiaotong University applied in 2007 Patent (publication number: CN 101157372A) of a walking-wheel-track composite mobile robot, although the wheel-type, crawler-type and leg-type mechanisms are combined together, a telescopic rod mechanism is used in the middle and the force is carried out by rack and pinion or hydraulic pressure. The transfer of the system greatly increases the complexity and cost of the organization, and makes the control more complicated

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