Track-wheel combined type mobile robot

A mobile robot and composite technology, applied in the field of mobile robots, can solve the problems of overall reliability, reduced flexibility, and complex control of the robot, and achieve the effects of simplifying the structure, ensuring flexibility, and increasing flexibility

Inactive Publication Date: 2013-04-10
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, there are relatively few studies on the combination of crawler and wheeled traveling mechanisms, and the crawler and wheels of the existing wheel-track-leg composite mobile robot share a drive motor or simply use the track wheel as a wheel to drive. When reaching the obstacle, the leg structure is used to overcome the obstacle, which reduces the overall reliability and flexibility of the robot and makes the control complicated

Method used

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  • Track-wheel combined type mobile robot
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  • Track-wheel combined type mobile robot

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Experimental program
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Effect test

specific Embodiment approach 1

[0029] combine figure 1 , the main constitution of the present invention comprises three main parts of the conversion mechanism of crawler chassis, wheel chassis and crawler-wheel.

[0030] combine figure 2 , image 3 , Figure 4 , the crawler driving mechanism is installed on the bottom plate 34 of the crawler driving mechanism, the crawler driving motor 7 is a DC gear motor and is connected with the crawler driving motor support 6 through screws, and it transmits power through the active crawler coupling 5 to the active track wheel shaft 2, and then the active track wheel shaft 2 drives the active track wheel 1 to move through a key connection, and the active track wheel shaft 2 is jointly connected by the active track wheel bearing 3 and the active track wheel bearing seat 4 installed on the bottom plate 34 of the track wheel traveling mechanism. Match support. The driven track wheel 17 is installed on the driven track wheel shaft 18 through a key connection, and moves...

specific Embodiment approach 2

[0034] combine Figure 9 , the wheel running mechanism is installed on the wheel running mechanism bottom plate 28, the wheel driving motor 27 is a DC geared motor and is connected with the wheel driving motor support 26 by screws, and it transmits power to the driving wheel drive through the driving wheel coupling 25. Shaft 23, driving wheel transmission shaft 23 is transmitted by a pair of driving gear 24 and driven gear 41 of specified reduction ratio, and power is transmitted to driving wheel shaft 16, and finally drives driving wheel 15 to move, and driving wheel transmission shaft 23 is driven by driving wheel shaft 23. The wheel transmission bearing 22 is jointly supported by the driving wheel transmission bearing seat 21 , and the driving wheel shaft 16 is jointly supported by the driving wheel bearing 39 and the driving wheel bearing seat 40 .

[0035] The working principle of the present invention is as follows:

[0036] When the mobile robot travels on a relatively...

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Abstract

The invention provides a track-wheel combined type mobile robot. The track-wheel combined type mobile robot comprises a base plate, a track travelling mechanism, a wheel travelling mechanism and a switching mechanism, wherein the base plate comprises a track base plate and a wheel base plate, the track travelling mechanism is arranged on the track base plate to form a track chassis, the wheel travelling mechanism is arranged on the wheel base plate to form a wheel chassis, the switching mechanism is a transmission mechanism connected between the track chassis and the wheel chassis, and the switching mechanism is mainly composed of a lifting driving motor, a lifting screw and a lifting nut. In the track-wheel combined type mobile robot provided by the invention, screw drive of the lifting screw and the lifting nut is used for realizing mutual switching between a track travelling manner and a wheel travelling manner, the problems that mechanism is complex, motion control difficulty is higher and reliability is low as a leg-type structure is adopted are solved, structure is simplified, and flexibility, reliability and obstacle-crossing capability of a robot are guaranteed. A double-chassis structure is adopted, and driving systems of the track travelling mechanism and the wheel travelling mechanism are independent and not interfered, thus the flexibility of the robot is enhanced.

Description

technical field [0001] The invention relates to a mobile robot, in particular to a compound mobile robot combined with crawlers and wheels. Background technique [0002] Wheel-type, crawler-type, and leg-type moving mechanisms are the three most widely studied and currently used mobile robots. The wheeled mobile robot has simple structure, fast speed and low energy consumption, but its obstacle surmounting ability is poor, and it is not suitable for crossing obstacles such as ravines, steps, stairs, etc. Strong, suitable for driving on complex roads, but the track is easy to wear, the power consumption is relatively large, and the driving mechanism is relatively cumbersome; the legged mobile robot has strong adaptability to the terrain and has excellent off-road ability, but the structure is relatively Complicated, motion control is more difficult, and the moving speed is slower, so it is relatively difficult to realize. [0003] In order to enable the robot to adapt to a ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D55/02
Inventor 赵国权张天弛王玉甲张波杨超
Owner HARBIN ENG UNIV
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