Extendable wheeled mobile robot

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. ...

AI Technical Summary

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 performance of the mechanism cannot achieve satisfactory results.

[0004] Therefore, the current mobile robots can walk at high speed and efficiently but have insufficient ability to overcome obstacles, and can overcome obstacles but move slowly and lack stability.

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