Deformable all-terrain adaptable robot walking mechanism

Abstract

The invention discloses a deformable all-terrain adaptable robot walking mechanism, which comprises a framework, a wheeled mechanism and an overturn arm mechanism. The wheeled mechanism is a four-wheel mechanism which is driven by a driving wheel; a driven wheel is driven by a synchronous belt; the wheeled mechanism on the left side and the right side is driven by a motor respectively; and the synchronous belt for connecting the driving wheel and the driven wheel is packaged in a cavity of a robot. An assisting walking mechanism is the overturn arm mechanism which consists of quick-connection components, a rocker arm shell and an overturn arm wheel, wherein the quick-connection components are arranged on two sides of the wheeled mechanism and ensure that overturn arms can be quickly mounted on a chassis of the robot or dismounted quickly. The robot walks by mainly depending on the four-wheel mechanism, the overturn arm mechanism plays a role in assisting motion and deforming the mechanisms, and the morphological changeability of the mechanisms ensures that the deformable all-terrain adaptable robot walking mechanism has the shapes of four wheels, similar caterpillar bands, expanded six wheels and the like. The deformable all-terrain adaptable robot walking mechanism integrates the advantages of a wheeled robot and a caterpillar band type robot, such as light weight, flexible motion, high speed, high transmission efficiency, all-terrain adaptability and the like.

Description

technical field [0001] The invention relates to a walking mechanism of a robot, in particular discloses a walking mechanism of a robot that is deformable and adaptable to all terrains, and belongs to the technical field of robots. Background technique [0002] A mobile robot is a robot that can move autonomously or semi-autonomously. The walking methods of mobile robots used on land mainly include wheeled, crawler, and footed. [0003] The advantages of wheeled robots are high-speed mobility and high operating efficiency. The problem is that it is difficult to cross larger obstacles, such as thresholds, stairs, etc., and it is not suitable for driving on complex roads, such as muddy, gravel, etc. Therefore, Traditional wheeled robots are difficult to achieve all-terrain walking. Some improved wheeled mechanisms can partially improve the obstacle-surmounting ability of the robot: CN2717789 proposes a robot platform with four-wheel drive, and the front and rear wheels are con...

AI Technical Summary

Problems solved by technology

[0006] (2) The crawler track is easy to enter small objects such as branches, sand and gravel during driving on grassland and sandy ground, which may easily cause the track to be stuck, make it difficult for the robot to move, and wear the wheel hub or track

[0007] (3) The crawler is expensive and the production cycle is long

[0008] (4) It is difficult to quickly replace the track after it is damaged

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