Inside and outside reinforced structural type configuration-changeable obstacle crossing robot

Abstract

The invention aims at providing an inside and outside reinforced structural type configuration-changeable obstacle crossing robot which comprises a car body, main arms and auxiliary arms. Main arm caterpillar band support frames are installed on two sides of the car body, power-driven wheels, main arm wheels and driven wheels are sequentially installed on the main arm caterpillar band support frames from front to back, the main arms are installed on the main arm caterpillar band support frames, one end of each main arm is connected with the main arm wheels, and a planet wheel is installed at the other end of each main arm. A first auxiliary wheel and a second auxiliary wheel are respectively installed at two ends of each auxiliary arm, the second auxiliary wheels are coaxial with the driven wheels, main arm caterpillar bands are installed the main arm caterpillar band support frames through the planet wheels, the power-driven wheels, the main arm wheels and the driven wheel, and auxiliary arm caterpillar bands are installed on the auxiliary arms through the first auxiliary wheels and the second auxiliary wheels. The inside and outside reinforced structural type configuration-changeable obstacle crossing robot adopts a composite main arm structure, inner and outer arms reinforced design is adopted by the main arms, the strength of the main arms in the movement process is ensured, and accordingly the stationarity of the car body in obstacle crossing is improved.

Description

technical field [0001] The present invention relates to a robot, in particular to an obstacle-surmounting robot. Background technique [0002] Due to the successful application of rescue robots in the 9.11 incident, people have started to study the upsurge of rescue robots. The most important part of the rescue robot is the obstacle-surmounting mechanism and the mechanical body. Only when the obstacle is overcome well can the task be carried out smoothly. The mobile carrier of the obstacle-climbing mechanism can be generally divided into serpentine, non-limbed, wheeled, multi-legged, and crawler-type according to its motion mechanism. [0003] Snake-shaped robots have the characteristics of good motion stability, strong ability to adapt to terrain, and high traction, but the control of multiple degrees of freedom is difficult and the motion speed is low. Wheeled robots have the characteristics of simple structure, light weight, small rolling friction resistance and high me...

AI Technical Summary

Problems solved by technology

[0003] Snake robots have the characteristics of good motion stability, strong ability to adapt to terrain and high traction, but the control of multiple degrees of freedom is difficult and the motion speed is low.

Wheeled robots have the characteristics of simple structure, light weight, small rolling friction resistance and high mechanical efficiency, but the ability to cross ditches and steps is poor

The multi-legged robot has the characteristics of strong ability to adapt to the terrain and can cross large ditches and steps. Its disadvantage is that it is slow; the wheel-legged robot combines the terrain adaptability of the leg mechanism and the high-speed and high-efficiency performance of the wheel mechanism. The disadvantages are Complex structure and cumbersome control

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