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 advance under 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 adaptability and 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...

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