Convertible walking mechanism of robot

Abstract

The invention relates to a convertible walking mechanism of a robot, solving defects existing in a single walking mechanism, wherein each transmission chain part is controlled through the adoption of concentric shafts; each transmission interior shaft is directly connected with a track driving wheel in a track type structure and a wheel in a wheel type structure through flat keys; each track covers the track driving wheel and a track guide wheel; the track driving wheel and the track guide wheel covered by each track are fixedly arranged in each track bracket; each transmission exterior shaft is fixedly connected with the track bracket through screws, so that the swing of each track type structure is realized; and a track auxiliary wheel in each track type structure is fixedly arranged on a track auxiliary wheel supporting frame and connected in series with a motor together with two connecting bars through dowels for the formation of a four-bar mechanism group. The convertible walking mechanism of the robot is simple in mechanical structure, high in transmission efficiency and strong in adaptation ability, and can be applicable for various-condition road surfaces; and therefore, the application prospect is wide.

Description

technical field [0001] The invention relates to a walking mechanism of a robot, in particular to a walking mechanism of a mobile robot capable of adapting to changing road surface environments and overcoming obstacles. Background technique [0002] With the continuous development of robot technology, its application fields are becoming more and more extensive. Mobile robots are not only widely used in industry, agriculture, national defense, medical and other industries, but also in harmful and dangerous situations such as search and rescue, radiation and space fields. The application and research of mobile robots is of great significance to improving labor productivity and promoting the development of science and technology, and it has also become an important symbol to measure the level of a country's manufacturing industry. The application fields of mobile robots are constantly expanding, and the tasks to be completed by robots are also complicated and diverse. [0003]...

AI Technical Summary

Problems solved by technology

Wheeled mobile robots are characterized by large carrying capacity, fast moving speed, and low energy consumption, but their motion stability is limited by road conditions. If the road surface is uneven, the rapid movement ability of wheeled mobile robots is difficult to play; Crawler-type mobile robots can walk on uneven ground like humans or animals. The disadvantages are that the robot has many degrees of freedom, complex control, low walking speed and poor carrying capacity; crawler-type mobile robots have special mechanical structures and have greater functions. Although it can adapt to various complex and diverse road surfaces, the friction resistance is relatively large and the mechanical efficiency is low.

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