Extendable wheeled mobile robot

A mobile robot and wheeled technology, applied in the field of robotics, can solve the problems of insufficient obstacle surmounting ability, unsatisfactory obstacle surmounting performance of the mechanism, slow progress, etc., and achieve the effect of improving ground adhesion

Active Publication Date: 2012-01-25
SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Chinese Patent No. 200620028478.6 describes the compound walking wheel mechanism developed by Jilin University. The mechanism is suitable for soft ground such as sandy ground, but due to the limited stretching ratio of the mechanism, the obstacle surmounting pe

Method used

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  • Extendable wheeled mobile robot
  • Extendable wheeled mobile robot
  • Extendable wheeled mobile robot

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Embodiment Construction

[0050] The specific embodiments of the present invention will be described below mainly in conjunction with the accompanying drawings.

[0051] see figure 1 , the expandable wheeled mobile robot 10 of this embodiment includes a vehicle frame 101 , a swing suspension assembly 102 , a drive shaft assembly 103 and a wheel set 104 . Wherein, the swing suspension assembly 102 is connected with the vehicle frame 101 through a rotating shaft. There are four drive shaft assemblies 103 , which are rotatably connected to two ends of the swing suspension assembly 102 . There are four wheel sets, and they are respectively fixedly connected to the four drive shaft assemblies 102 .

[0052] Specifically, the frame 101 includes an upper frame 1011 , a lower frame 1012 and a support rod 1013 . Both the lower frame 1012 and the lower frame 1012 are plate-shaped structures. There are multiple support rods 1013, and the two ends are fixedly connected with the upper frame 1011 and the lower f...

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Abstract

The invention relates to an extendable wheeled mobile robot. The robot comprises a frame, a swing suspension component which can swing relative to the frame, four driving shaft components which are connected to two ends of the swing suspension component in a rotatable mode, and four wheel groups which are fixedly connected to the four driving shaft components and can rotate relative to the frame,wherein each wheel group comprises a cylindrical normal wheel, three extendable wheel rims, three binary rods and a driving piece; each extendable wheel rim is bow-shaped and is provided with two bearing holes; the three binary rods are arranged around the axis of the normal wheel; each binary rod is provided with two free ends and a bending part; the bending part is connected to the outer side of the normal wheel in the rotatable mode; the two free ends of each binary rod are connected with the middle bearing hole of one extendable wheel rim and the edge bearing hole of the adjacent wheel rim in the rotatable mode; and the driving piece drives the three binary rods to rotate around the centers of the respective bending parts. The extendable wheeled mobile robot has high obstacle-surmounting capability.

Description

【Technical field】 [0001] The invention relates to a robot, in particular to a deployable wheeled mobile robot. 【Background technique】 [0002] Various ground mobile mechanisms (wheel type, leg type, crawler type) have their own strengths and weaknesses in terms of rapidity, stability, and obstacle surmountability. Although the wheeled mobile mechanism moves fast and smoothly, its obstacle-surmounting performance is relatively poor. If a wheeled mobile mechanism with good obstacle-surmounting performance can be designed, the application range of the wheeled mobile robot will be improved to a greater extent. [0003] There are many studies on the mobile system of mobile robots at home and abroad, but the research on the improvement of the mobile mechanism itself, especially the wheeled mobile mechanism, is still in its infancy. Among them, Beijing University of Aeronautics and Astronautics proposed a swing variable-diameter wheel frame suitable for variable-diameter wheels. ...

Claims

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Application Information

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IPC IPC(8): B62D63/02B60B19/00B60K17/04
Inventor 张朋胡颖郑兰张建伟宋章军张立伟
Owner SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
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