Wheel-arm-hybrid obstacle surmounting robot with radial telescopic wheels

A hybrid and robotic technology, applied in the direction of claw arms, manipulators, manufacturing tools, etc., can solve the problems of poor adaptability to complex terrain, lack of independent operation ability, etc., achieve good flexibility and adaptability, enhance more barrier performance, compact structure

Inactive Publication Date: 2015-05-20
ZHEJIANG SCI-TECH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, mobile obstacle-crossing robots are relatively poor in adapting to changing and complex terrains, and most of them do not have the ability to operate independently

Method used

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  • Wheel-arm-hybrid obstacle surmounting robot with radial telescopic wheels
  • Wheel-arm-hybrid obstacle surmounting robot with radial telescopic wheels
  • Wheel-arm-hybrid obstacle surmounting robot with radial telescopic wheels

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Experimental program
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Embodiment Construction

[0020] The specific implementation of this patent will be described below in conjunction with the accompanying drawings of this patent.

[0021] like figure 1 , figure 2 As shown, a wheel-arm hybrid obstacle-climbing robot with radially telescopic wheels consists of a driving wheel 1 , a car body 2 , a mechanical arm 3 , an auxiliary wheel 4 , and a manipulator 5 . The two driving wheels 1 are symmetrically arranged on the left and right sides of the vehicle body 2, and are connected with the vehicle body 2 to form a rotating pair. 3-7, the manipulator 5 is fixedly connected to the wrist joint servo 3-8 of the manipulator 3 through the connecting plate 5-3.

[0022] like image 3 As shown, the drive wheel 1 includes an outer shaft 1-1, an inner shaft 1-2, a clutch 1-3, a bearing seat 1-4, a nut 1-5, a guide rod 1-6, an inner rim 1-7, Wheel spoke push rod 1-8, wheel spoke push seat 1-9, wheel rim inclined block 1-10, linear bearing 1-11, wheel spoke rod 1-12.

[0023] The...

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Abstract

The invention discloses a wheel-arm-hybrid obstacle surmounting robot with radial telescopic wheels and solves the problem that the existing moving robot has poor motion and operating capabilities in complex environments. The wheel-arm-hybrid obstacle surmounting robot comprises two drive wheels, a cart, a mechanical arm, auxiliary wheels, and a mechanical arm. The drive wheels are symmetrically disposed on left and right sides of the cart and are connected with the cart to form a revolute pair. The mechanical arm is hinged to the front end of the cart. The auxiliary wheels are mounted on a small arm of the mechanical arm. The auxiliary wheels are mounted on the small arm of the mechanical arm. The mechanical arm is fixedly connected to the tail end of a mechanical arm wrist joint. The wheel-arm-hybrid obstacle surmounting robot has the advantages of light weight, low power consumption and flexibility in motion, is capable of independent detection and operation, and can adapt to terrains by changing wheel-arm poses and regulating radial size of the wheels.

Description

technical field [0001] The invention relates to a wheel-arm hybrid obstacle-surmounting robot, in particular to a wheel-arm hybrid obstacle-surmounting robot with radially stretchable wheels. Background technique [0002] The rise of fields such as planetary exploration, military reconnaissance, and disaster search and rescue has promoted the development of mobile obstacle-surpassing robot technology. As a working platform carrying scientific instruments, the mobile obstacle-crossing robot has a direct impact on the performance of the detection task. Most of the operating environments of mobile obstacle-crossing robots are complex and unstructured terrains, which require them to have strong terrain adaptability and flexible steering functions. At present, mobile obstacle-crossing robots have relatively poor adaptability to changing and complex terrain, and most of them do not have the ability to operate independently. Combined with the task requirements of mobile obstacle-...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J5/00B25J9/08B25J15/08B25J18/00
Inventor 胡明孙宝龙陈文华袁伟东黄丹敏钱萍冯军章斌潘骏撖亚頔
Owner ZHEJIANG SCI-TECH UNIV
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