Composite transformation mobile robot combining elastic foot and wheel type motion mechanism

A mobile robot and motion mechanism technology, applied in the field of robotics, can solve the problems of reduced load capacity and weak strength of robots, and achieve the effects of increasing motion stability, strong load capacity, and avoiding bulky and heavy

Active Publication Date: 2013-09-11
UNIV OF SCI & TECH OF CHINA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The functions of feet and wheels are unified in an independent mechanical structure

Method used

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  • Composite transformation mobile robot combining elastic foot and wheel type motion mechanism
  • Composite transformation mobile robot combining elastic foot and wheel type motion mechanism
  • Composite transformation mobile robot combining elastic foot and wheel type motion mechanism

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Embodiment Construction

[0035] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0036] Such as figure 1 As shown, a composite deformation mobile robot combining elastic feet and wheeled motion mechanisms of the present invention is specifically a foot-wheel composite deformation mobile robot designed with a special composite scheme, and its mechanical structure adopts a composite mode independent of each other . In this embodiment, there are four modularly designed leg units 2, a driven wheel structural unit 3, a driving wheel drive module unit 4, a space frame body 7 carrying various types of sensors, control circuits, PCs and power supplies, and a sealed housing 1 and so on. The installation method of four modularly designed leg units and the space frame body 7 is as follows: figure 2 The hip joint support 25 and the space frame body 7 are fixedly connected by bolts, and the four legs are arranged elbow-to-elbow (knee joints face o...

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Abstract

The invention provides a composite transformation mobile robot combining an elastic foot and a wheel type motion mechanism, which comprises a space machine body frame unit of a foot-wheel composite mobile transformation robot, driving wheel drive units, driven wheel driven units, four modular leg units, a control sensing system unit, a hermetical casing and a power source. The robot used elastic foot replaces the traditional rigid foot to increase the kinetic stability of the robot and reduce the vibratility and impact force of the robot, and is combined with a wheel type moving method, so that the quick mobility and high efficiency of the wheel type movement on a flat ground can be guaranteed, and the excellent maneuverability and strong obstacle crossing function of the foot type moving, creeping and climbing motion under complex terrains such as complex mountain environment and city terrain can be taken into account; as the foot type composite transformation mobile robot adopts modular design, the foot and wheel cannot interfere each other, the maintenance and replacement are convenient, and the motion pattern is flexible and variable; and the athletic ability of the robot is improved in virtue of the mutual transformation, coordination and combination of the foot type motion and the wheel type motion.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a composite deformation mobile robot combined with elastic feet and wheeled motion mechanisms. Background technique [0002] At present, the traveling mechanisms of land robots mainly include wheeled, crawler and legged. Considering the characteristics of the moving speed of the ground traveling mechanism and the ability to adapt to the terrain, the propulsion speed and moving efficiency of the wheeled, crawler and legged mechanisms Decrease in turn, while the maneuverability and adaptability in complex terrain environments increase in turn. In order to adapt to various complex terrain environments and improve the propulsion efficiency, maneuverability and obstacle-surmounting ability of robots, robots with multiple mobile mechanisms are an important trend in the development of robotics in recent years. Among them, legged robots that adapt to various complex environments and whee...

Claims

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Application Information

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IPC IPC(8): B62D57/028B25J5/00
Inventor 董二宝杨杰陆冬平刘春山王支荣许旻
Owner UNIV OF SCI & TECH OF CHINA
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