Deformable planet wheel robot with left body and right body hinged

A planetary wheel and robot technology, applied in motor vehicles, transportation and packaging, etc., can solve the problems of large turning radius, insufficient flexibility, and poor ground adaptability of robots, and achieve good terrain passing ability, low power consumption, and stable speed Effect

Inactive Publication Date: 2013-11-27
SHANGHAI UNIV OF ENG SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0013] The technical problems to be solved in the present invention are: the existing planetary wheel robot has insufficient flexibility in the design of the chassis, and the wheel train is easy to be damaged; the turning radius of the robot in the ste

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  • Deformable planet wheel robot with left body and right body hinged
  • Deformable planet wheel robot with left body and right body hinged
  • Deformable planet wheel robot with left body and right body hinged

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Embodiment Construction

[0036] The present invention will be further described below in conjunction with specific examples.

[0037] The purpose of the invention is to solve the technical problems of the mobile robot's obstacle-surmounting ability, terrain adaptability and motion stability. Inspired by the self-protection of the tortoise, a four-bar deformation chassis driven by a ball screw is designed, which can hide the planetary wheels in the enveloped space inside the car body when the robot is stored, saving about 30% of the space. The designed homogenization system consisting of four-wheel rocker suspension and homogenization car body can ensure that the wheels touch the ground at the same time, which greatly improves the motion stability and terrain adaptability of the mobile robot. The following sub-components introduce the content of the present invention in detail.

[0038] Planetary drive module:

[0039] Such as image 3 Shown is a structural diagram of the planetary drive module gear...

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Abstract

The invention relates to a deformable planet wheel robot with a left body and a right body hinged. The deformable planet wheel robot is characterized by comprising the left body and the right body which are connected into a whole through a rocker arm suspension system hinged to the two bodies. The outer side of each of the bodies is provided with vertically-hinged lateral plates, namely a lateral plate I, a lateral plate II, a lateral plate III and a lateral plate IV. Front wheels are fixed on the lateral plates I, and rear wheels are fixed on the laterals IV. The middle portions of the lateral plates I and the lateral plates II are hinged to a front steering frame and a rear steering frame. Pairs of ball screw are arranged at the upper portion and the lower portion in each of the bodies fixedly, and the hinge positions of the lateral plates I and the lateral plates II and the hinge positions of the lateral plates III and the lateral plates IV are connected with respective ball screws through connection rods. The lateral plates I, the lateral plates II, the front steering frame and connection rods form four-rod deformation mechanisms. The deformable planet wheel robot are provided with four groups of symmetrically-arranged four-rod deformation mechanisms which serve as the chassis of the deformable planet wheel robot.

Description

technical field [0001] The invention relates to a planetary wheel robot, specifically, a planetary wheel robot with deformable left and right links. Background technique [0002] The planetary wheel robot is a mobile robot designed based on the consideration of the wheel train itself to overcome obstacles. It adopts a planetary wheel structure, and realizes the obstacle-breaking function by turning its own wheel train. It is widely used in the design of obstacle-breaking cars. [0003] The planetary gear train is an advanced gear transmission mechanism, which has the advantages of large transmission power, large load capacity, and compact structure. The planetary gear is often used in the gear train design of obstacle-crossing robots because of its good obstacle-surmounting ability. [0004] Planetary gear trains applied to obstacle-surpassing robots can be further divided into outer planetary gears and inner planetary gears. The schematic diagram of the outer planetary whe...

Claims

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Application Information

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IPC IPC(8): B62D57/02
Inventor 祝保领金晓怡韩旺钮冬科周宏宇张向伟徐杨
Owner SHANGHAI UNIV OF ENG SCI
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