Multi-joint series wheeled mobile robot

Abstract

The invention discloses a multi-joint series wheeled mobile robot. A middle box body is arranged on a middle axle of the robot, a control system is arranged above the middle box body, a pitching joint is fixed in the middle box body, each pitching joint is symmetrical to the middle axle and is respectively connected with a torsion joint, each torsion joint is respectively connected with a swinging joint which is respectively connected with a front axle and a rear axle, both ends of the front axle, the rear axle and the rear axle are provided with wheels, the torsion joint of the rear end is connected with a mechanical arm installing bracket, a mechanical arm is arranged on the mechanical arm installing bracket, and the front part of the robot is provided with a navigation system. The whole structure of the robot is in central axis symmetry by taking the middle axle as a symmetrical central axis. The gravity is evenly distributed on the wheels to furthest exert the work efficiency of a direct current motor. The multi-joint series wheeled mobile robot can measure and regulate the posture of the middle box body in real time, ensures the relative stabilization of the control system and has simple structure and light weight.

Description

technical field [0001] The invention relates to the field of mobile robots, in particular to a multi-joint series wheeled mobile robot. Background technique [0002] The terrain on the lunar surface is complex and the environment is harsh. To perform scientific exploration tasks in such a complex terrain environment, a robot must have a mobile system with superior performance and strong adaptability. During the interstellar flight, the robot needs to be placed in the lander carried by the aircraft, and the probe vehicle is required to be compact in structure, small in size, light in weight and low in power consumption. Judging from the current research situation of domestic lunar vehicles, the six-wheeled lunar vehicles have strong off-road performance, but there are also several major shortcomings: [0003] ①The mass of the whole vehicle is 50Kg, and the torque motor, clutch, brake and other devices greatly increase the mass-to-load ratio of the vehicle body, and indirectl...

AI Technical Summary

Problems solved by technology

[0004] ②The car body cannot guarantee real-time adjustment of the attitude of the load platform, and thus cannot guarantee the safety, stability and normal operation of the navigation system and scientific instruments;

[0005] ③The swing joint of the car body needs to control the angular displacement through a servo motor with a brake, which is difficult to control, high in cost, and increases the weight of the car body;

[0006] ④ The position of the front and rear pitching joints is not good relative to the axis of the hub. When passively climbing over a high vertical obstacle, the pitching moment is only generated by friction, and the relative gravity moment is very small, so the pitching moment cannot be effectively provided. Case;

[0007] ⑤ Reconfigurable modules are not provided, that is, in the case of a substantial increase in load demand, it cannot be reconfigured into a reliable 8-wheel and 12-wheel structure in a short time

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