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Novel wheel-leg type robot with variable structure

A legged robot with variable structure technology, applied in motor vehicles, transportation and packaging, etc., can solve the problems of many degrees of freedom, complex joint coordination control, complex structure, etc., and achieve the effect of simplified structure, simple structure and easy control

Inactive Publication Date: 2012-11-07
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Since most wheel-legged robots have many degrees of freedom and complex structures, the coordinated control of each joint is complicated

Method used

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  • Novel wheel-leg type robot with variable structure
  • Novel wheel-leg type robot with variable structure
  • Novel wheel-leg type robot with variable structure

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0022] refer to Figure 1 ~ Figure 3 , the novel variable structure wheel-legged robot comprises a vehicle body, a driving mechanism and a wheel-leg mechanism. It is characterized in that: the vehicle body is combined with four wheel-leg mechanisms and four driving mechanisms to form a symmetrical structure, each wheel-leg mechanism is driven by a driving mechanism, and is connected to the vehicle body through the driving mechanism; the wheel-leg mechanism is composed of Three rocker slider mechanisms are connected in series; each wheel-leg mechanism and a driving mechanism form a wheel-leg system, and each wheel-leg system is driven by three motors: a motor I output shaft fixed on the car body The linkage drive mechanism realizes the front and rear swing of the wheel-leg system. A motor II is installed on the drive mechanism to realize the up-and-down lifting and bending actions of the wheel-leg system through the transmission of two sets of intermittent sheave mechanisms; th...

Embodiment 2

[0024] This embodiment is basically the same as Embodiment 1, and the special features are as follows:

[0025] The rocker slider mechanism in the wheel-leg mechanism includes an active link a, a passive link b, a passive link c, a passive link d, and a passive link e. It is connected with the deep groove ball bearings at both ends, and the fork connection between these rods is realized by a single pin shaft II through the deep groove ball bearings, that is, the lower end fork of the active connecting rod a is connected with the single deep groove ball bearing and the shaft pin II. The upper end plug of the passive connecting rod d is forked and hinged, and the upper middle part and the lower middle part of the passive connecting rod d respectively pass through a shaft pin I and the deep groove ball bearings at both ends to connect with the middle part of the passive connecting rod b and the middle part of the passive connecting rod c Lap hinge connection, the fork at the lowe...

Embodiment 3

[0028] figure 1 This is a schematic diagram of the overall structure of the variable-structure wheel-leg mobile robot, which consists of three parts: a car body 1, a drive mechanism 4 and wheel legs 5. to combine figure 2 and image 3 : The motor 2 is installed on the car body 1, driven by the gears 7 and 9 to drive the pin shaft 8 to rotate, the pin shaft 8 and the connecting plate 10 are connected by bearings, and the connecting plates 10 and 12, 12 and 16, 16 and 25 are fixed by screws Then, the rod 29 is fixedly connected to the shaft 19 through the sleeve 28. Supports 18, 27 are connected with shaft 17 bearings, and shaft 17 is fixedly connected with connecting plate 16 by screws. It can be seen that the wheel-leg subsystem is based on the series combination structure of three rocker-slider mechanisms and the sheave intermittent mechanism. The motor 3 is connected with the shaft 14 through a shaft coupling, which drives the dial 13 and the dial 15 fixed on the shaft ...

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Abstract

The invention relates to a novel wheel-leg type robot with a variable structure. The robot comprises a vehicle body, driving mechanisms and wheel and leg mechanisms, wherein the vehicle body, the four wheel and leg mechanisms and the four driving mechanisms are combined into a symmetric structure; each wheel and leg mechanism is driven by each driving mechanism and connected with the vehicle body through each driving mechanism; each wheel and leg mechanism is formed by serially connecting three rocker and sliding block mechanisms; each wheel and leg mechanism and each driving mechanism form a wheel and leg system; each wheel and leg system is driven by three motors; an output shaft of a motor I fixedly connected to the vehicle body links the corresponding driving mechanism to make each wheel and leg system swing back and forth; a motor II is arranged on the corresponding driving mechanism and driven by two groups of intermittent sheave mechanisms, so that each wheel and leg system can be lifted up and down and bend; an independent driving wheel is arranged at the tail end of each wheel and leg system; each independent driving wheel is driven by a motor III. The robot is simple in structure, the number of leg joints and the control difficulty are reduced, and high maneuverability of a wheel type robot and high environmental adaptability of a leg type robot are combined.

Description

technical field [0001] The invention relates to a wheel-leg mobile robot, in particular to a novel variable-structure wheel-leg robot. Background technique [0002] With the continuous maturity and development of mobile robot technology, robots will be widely used in fields such as engineering exploration, anti-terrorism and explosion protection, military reconnaissance, disaster search and rescue, and interstellar exploration. The performance of the mobile mechanism is the core and key of the mobile robot. The traditional wheeled robot, legged robot and tracked robot have their own characteristics, but also have relatively large limitations. In order to make the robot more practicable, the development of a compound mobile mechanism with better environmental adaptability and mobility has become a hot spot in the research of mobile robots. Among them, the wheel-leg hybrid mobile robot has been extensively researched and developed at home and abroad. Since most wheel-legged ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/028
Inventor 徐子力陈振华赵娟金海涛韩丽楠孔师多
Owner SHANGHAI UNIV