Robot wheel moving module for plane advancing and linear advancing

Abstract

The invention discloses a robot wheel moving module for plane advancing and linear advancing. The robot wheel moving module for the plane advancing and the linear advancing comprises wheel modules, a first joint module, a second joint module and a U-shaped connecting piece, wherein the wheel modules are driven by a speed reducing motor, the first joint module and the second joint module are driven by a steering engine, the fixed end of the first joint module is connected with the fixed end of the second joint module through the U-shaped connecting piece, wheel modules are arranged at the movable end of the first joint module in parallel, a wheel module is arranged at the movable end of the second joint module in an opposite mode, movement power is output through an output shaft of the speed reducing motor and wheels on the speed reducing motor, the first joint module and the second joint module respectively has only one rotational degree of freedom, and a rotating shaft of the first joint module is parallel to a rotating shaft of the second joint module. According to the robot wheel moving module for the plane advancing and the linear advancing, combination of a ground movement function and a linear movement function can be achieved, and flexibility and maneuverability of a robot are improved. The robot wheel moving module for the plane advancing and the linear advancing has very strong portability and has the advantages of being simple to design, manufacture and maintain, and low in cost.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a three-wheel drive module with modularization, steering gear drive, variable motion posture, and the ability to travel on a plane or on a line. Background technique [0002] The application of robots is more and more extensive, and it penetrates into almost all fields. Mobile robot is an important branch of robotics. At present, the mobile forms of robots on the ground mainly include wheel type, leg type, and crawler type. The legged pose imitates the way animals walk, has a high degree of intelligence, and can adapt to complex terrains. However, due to too many structural degrees of freedom, the structure and control are more complicated, and the action speed is slower. The crawler type has the characteristics of large ground area, low ground pressure, good adhesion and passing performance on soft ground, high stability in climbing stairs and over obstacles, and good self-rese...

AI Technical Summary

Problems solved by technology

The typical 3-wheel structure usually adopts the arrangement of a center wheel and 2 rear wheels. The structure is simple but the stability is poor, and it is easy to fall when moving on inclined ground.

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