Wheel-legged combined-type robot platform

Abstract

The invention discloses a wheel-legged combined-type robot platform, which comprises a vehicle body, a front vehicle body, a rear vehicle body, a front wheel-legged system and a rear wheel-legged system, and is characterized in that the front wheel-legged system comprises a steering system and a front leg swinging system; the steering system comprises a steering motor, a steering mechanism and steering wheels; the front leg swinging system comprises a front leg swinging motor, a front wheel-legged supporter and front leg swinging wheels; the two subsystems are installed in a front box body, and the front box body is connected with the vehicle body by utilizing a front stub axle extending out of the rear part of the front box body; the rear wheel-legged system comprises a vehicle body and rear leg swinging system and a driving system, and the two subsystems are installed on the rear vehicle body; the rear vehicle body is connected with the vehicle body by utilizing a rear stub axle extending out of the front part of the rear vehicle body; the vehicle body part mainly comprises an angle-turning motor which is installed inside the vehicle body and has no relative motion with the vehicle body; a gear is connected to a torque output end, and another gear engaged with the gear is rigidly connected with the rear stub axle; and leftward and rightward adjustment and inclination of the vehicle body are realized through the angle-turning motor.

Description

technical field [0001] The invention relates to robot technology, in particular to an improved wheel-leg compound mobile robot platform. Background technique [0002] The advantage of the wheeled mobile robot platform is high speed and high efficiency, but the disadvantage is poor terrain adaptability. In order to adapt to the complex terrain environment, many robots now do not only use wheel-type mobile mechanisms, but more of them use compound mobile mechanisms such as wheel-track, wheel-leg or wheel-track-leg. The composite mobile robot platform adopts different travel strategies in different environments, which greatly improves the robot's forward speed and terrain adaptability, and has become a main direction for the development of outdoor robots today. The mobile robot platform is a basic platform on which control systems, detection systems and manipulators can be mounted, which can realize many functions that are difficult for ordinary robots to achieve. The robot p...

AI Technical Summary

Problems solved by technology

[0004] The existing wheel-legged robots mainly include the following types: 1. The six-wheeled legged mobile robot represented by the American Mars Rover Mars rover, this type of robot can cross obstacles higher than its wheel diameter, but limited by its structure, the wheel Small, the distance between the body and the ground is too small, and the legs must be lifted frequently to overcome obstacles in complex terrain environments, the driving efficiency is not high, and the energy consumption is large

2. Represented by the triangular fork-type wheel-legged robot of Shanghai Jiaotong University, this type of machine has a strong ability to overcome obstacles and is easy to control, but it adopts the same travel method on flat terrain and complex terrain, which is inefficient and the chassis vibrates violently. Robotic platforms don’t last long

3. Represented by the wheel-leg variable structure mobile robot designed by Tsinghua University, this type of robot can realize the compound movement of wheels, legs, and wheel-legs. Although its ability to overcome obstacles is also strong, it requires eight motors and four million Steering wheel, high power consumption, and because of its small size, poor load capacity and battery life

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