Self-reset wheel-leg jumping composite mobile robot

Abstract

The invention discloses a self-reset wheel-leg jumping composite mobile robot. The self-reset wheel-leg jumping composite mobile robot comprises a jumping device, a reset and wheeled driving integrated device and a torsional spring energy storage and ground falling buffer integrated device, wherein the jumping device is used for realizing the function of storing and releasing jumping energy; the reset and wheeled driving integrated device is used for realizing the functions of reset after the jumped robot falls to the ground and topples and wheeled driving; and the torsional spring energy storage and ground falling buffer integrated device is used for realizing the functions of storing jumping energy by a torsional spring and buffering the ground impact force during ground falling by using the torsional spring and an arc-shaped soleplate. The jumping motion and wheeled motion are combined to improve the maneuvering performance of the robot, namely the wheeled driving is adopted on the flat ground, the efficiency is reliable and the maneuvering performance is improved. When the robot meets steep terrains or cannot pass through barriers by the wheeled motion, the jumping motion is switched, the jumping gesture and storage energy are regulated to control the jumping height and jumping distance effectively, and the different jumping models are selected according to requirements of environment. When falling to the ground after jumping and toppling, the robot can be reset by a reset mechanism, so that the robot is in the upright state again to complete the next jumping.

Description

technical field [0001] The invention relates to a self-resetting wheel-leg type bouncing composite mobile robot, which belongs to the field of mechanical engineering, automation and robotics. Background technique [0002] At present, mobile robots mainly adopt three kinds of motion modes: wheel type, crawler type and leg type. Wheeled robots have the characteristics of high speed and high efficiency, and the technology is mature, but their ability to overcome obstacles is poor, and they cannot adapt to complex terrain environments. Tracked robots have strong adaptability, compact design, and good environmental adaptability, but they have the disadvantages of heavy weight, large frictional resistance, and high energy consumption. Legged robots have good maneuverability and strong ability to overcome obstacles, but their autonomous control is complex. As a bouncing robot among legged robots, it has become a hotspot in the field of robot research because of its strong ability...

AI Technical Summary

Problems solved by technology

[0006] In order to enhance the adaptability of the robot to the environment, improve the maneuverability, and overcome the defects of the existing technology that the tipping cannot be automatically reset, the jumping height is limited and cannot be adjusted, and it cannot land smoothly, the present invention proposes a self-resetting wheel-leg type bouncing compound mobile robot

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