Wheel-legged mobile robot in complex terrain

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...

AI Technical Summary

Problems solved by technology

[0004] Existing wheel-legged robots mainly contain the following types: 1. The six-wheel-legged mobile robot represented by the Mars Rover of the United States can cross obstacles higher than its wheel diameter, but limited by its structure, the distance between the body and the The ground distance is too small, the driving efficiency is not high in 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 University, it can realize the compound movement of wheels, legs, and wheel-legs. Although its ability to overcome obstacles is also strong, it needs eight motors and four universals. Wheels, high power consumption, poor load capacity and battery life

However, compared with the present invention, the defects and shortcomings of the prior art are that the single foot-arm mechanism has three degrees of freedom, and the ability to fold, overcome obstacles, and cross ditch is insufficient; the joints are connected in series, and the overall force characteristics Not good, the motion reliability is low; the motion coupling of each joint, the gait planning calculation is more complicated, and the energy-saving characteristics of the whole machine are not good

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