Wheel-legged mobile robot suitable for complicated terrains

A mobile robot and complex terrain technology, applied in the field of aircraft, can solve the problems of poor load capacity and endurance, low movement reliability, and low travel efficiency, and achieve the effects of strong terrain adaptability, strong ability to cross obstacles, and simple structure

Inactive Publication Date: 2013-11-20
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Existing wheel-legged robots mainly contain the following types: 1. The six-wheeled legged mobile robot represented by the Mars Rover of the United States can cross obstacles higher than its wheel diameter, but is limited by its structure. The distance from the ground is too small, the driving efficiency is not high in the complex terrain environment, and the energy consumption is large
2. Represented by the triangular fork-type wheel-legged robot of Shanghai Jiaotong University, this type of robot has a strong ability to overcome obstacles and is simple to control, but its efficiency is low, the chassis vibrates violently, and its life is not long
3. Represented by the wheel-legged variable structure mobile robot designed by Tsinghua Univer

Method used

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  • Wheel-legged mobile robot suitable for complicated terrains
  • Wheel-legged mobile robot suitable for complicated terrains

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Experimental program
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Embodiment 1

[0020] Such as figure 1 As shown, this embodiment includes: platform 1, six wheel leg systems evenly arranged on the edge of platform 1, each wheel leg system has the same structure, including: steering mechanism 2, turning mechanism 3, swing lifting mechanism, rotating mechanism 8, rotating mechanism The wheel mechanism 9 and the wheels 10, wherein: the steering mechanism 2 is fixed on the platform 1 and connected with the turning mechanism 3, the two ends of the swing lifting mechanism are respectively connected with the turning mechanism 3 and the rotating mechanism 8, and the wheels 10 are connected to the bottom of the rotating mechanism 8 .

[0021] The steering mechanism 2 includes a first rotation pair, and the first rotation pair includes: two cylinders whose axes are perpendicular to each other and connected to each other.

[0022] The turning mechanism 3 includes a second rotation pair, and the second rotation pair includes: a cylindrical annulus and a cylinder con...

Embodiment 2

[0032] Such as figure 2 As shown, the structure of this embodiment is partly the same as that of Embodiment 1, but the swing lifting mechanism of this embodiment includes: two active rods 4, 5 with the same structure and two driven rods 6, 7, wherein: two active The two ends of the rods 4 and 5 are jointly connected with the turning mechanism 3, and the other two ends are respectively connected with the ends of the two driven rods 6 and 7. The structures of the two driven rods are the same, and the first driven rod The middle part of 6 is connected with the middle part of the second driven rod 7, and the other two ends of the two driven rods 6, 7 are respectively connected with one side ends of the two extension rods 11, 12, and the two extension rods 11, 12 have the same structure and the other side ends are connected to each other and connected to the rotating mechanism 8.

[0033] Other structures of this embodiment are the same as those of Embodiment 1.

[0034] When th...

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Abstract

A wheel-legged mobile robot suitable for complicated terrains belongs to the technical field of aircrafts, can be used for foreign planet detection, and comprises a platform and six wheel leg systems uniformly arranged on the periphery of the platform, wherein the six wheel leg systems have identical structures, and each wheel leg system comprises a steering mechanism, a turnover mechanism, a swing lifting mechanism, a rotating mechanism and a wheel; each steering mechanism is fixed onto the platform and is connected with the corresponding turnover mechanism; the two ends of each swing lifting mechanism are respectively connected with the corresponding turnover mechanism and the corresponding rotating mechanism; each wheel is connected onto the bottom of the corresponding rotating mechanism. The wheel-legged mobile robot can meet multiple requirements under the complicated environment, can climb a slope, cross an obstacle, span a trough and advance stably on the uneven ground, can be folded for being transported conveniently, and is simple in structure and low in energy consumption.

Description

technical field [0001] The invention relates to a device in the field of aircraft technology, in particular to a wheel-legged mobile robot with complex terrain that can be used for alien planet detection. Background technique [0002] The advantages of wheeled mobile robots are fast and efficient, but the disadvantage is poor terrain adaptability. In order to adapt to the relatively complex terrain environment, many robots currently do not use a single wheeled mobile system, but more of them use compound mobile mechanisms such as wheel-track and wheel-leg. This composite mobile robot adopts different travel strategies in different environments, which greatly improves the robot's forward speed and terrain adaptability, and has become an important direction for the development of robots today. The mobile robot platform is an independent module, which is independent from other modules, which is convenient for secondary development and modification, and has a wide range of appl...

Claims

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Application Information

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IPC IPC(8): B62D57/028
Inventor 郭为忠高峰马泽润
Owner SHANGHAI JIAO TONG UNIV
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