Six-bar bouncing combined-type wheel-leg mobile robot

Abstract

The invention discloses a six-bar bouncing combined-type wheel-leg mobile robot, which comprises a wheel-type moving mechanism, a bouncing mechanism, a front and rear swing arm mechanism and a holder mechanism. A six-bar rhombic nonlinear tension spring bouncing and locking mechanism is used, the bouncing height of the mobile robot is increased, the mechanism is prevented from bouncing in advanceunder the dual effects of oscillation in the spring and a non-rigid ground surface, and the requirement on a lock release mechanism is reduced. The front and rear swing arm mechanism adopts a structure of two front swing wheel legs and a single rear swing wheel leg. Since the swing arm shafts of the front and rear swing arm mechanism are not coaxial with wheels, the limitations to arm length are fewer, and the ability of crossing over ditches of the mobile robot is greatly enhanced. Besides, by adopting the design of the front and rear swing arm mechanism, the occupied space is few, and enough installation spaces are reserved for subsequent upgrade needs. An auto-resetting function and an obstacle leaping function can be realized. A charge coupled device (CCD) observation table is integrated with sensors for postures, positions, directions and the like and is installed in a holder which can be lifted up and lowered down. Under field natural environments, the environmental adaptabilityand the ability of crossing over obstacles are very high.

Description

technical field [0001] The invention relates to a robot, in particular to a six-rod bouncing composite wheel-leg mobile robot. Background technique [0002] Mobile robots have been used in home services, entertainment, scientific investigations, interstellar exploration, military weapons, anti-terrorism, It has broad application prospects in dangerous and harsh environments such as public safety. [0003] At present, the research on bouncing robots can be divided into two categories according to the main construction methods: one is inspired by the bouncing movements of natural creatures, imitating mechanisms with similar appearance and functions, and realizing walking and bouncing at the same time, such as mechanical crickets and mechanical robots. Cats, etc., can be classified as bionic institutions. Another way is to directly use a simple mechanism to generate elastic force (such as centrifugal force, spring elastic force, etc.). This method has fewer degrees of freedo...

AI Technical Summary

Problems solved by technology

However, its compression length is very limited, and it is limited by its own volume, so the bounce height is limited, it is difficult to improve it, the utilization efficiency of the motor is low, and the energy conversion efficiency is low

[0004] In addition, in the previous design of the swing arm of the wheel-legged mobile robot, the mobile robot adopts a double forearm scheme, and its swing axis is coaxial with the front wheel, which can ensure that the double forearm can rotate 360°, but relatively, such a design As a result, its swing reduction mechanism is extremely complicated, which will greatly increase the weight of the robot and take up valuable internal space

In addition, due to the limitation of the front and rear wheelbase, the length of the double forearm is greatly limited, which also reduces the ability of the robot to cross the ravine

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