An obstacle-surpassing carrying robot

A robot and obstacle-crossing technology, applied in the field of robotics, can solve problems affecting the stability of vehicles, and achieve the effect of improving obstacle-crossing ability and high obstacle-crossing performance

Active Publication Date: 2016-01-13
BEIJING JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the outer contour of the wheel structure is not circular after deformation, which affects the driving stability of the vehicle.

Method used

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  • An obstacle-surpassing carrying robot
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  • An obstacle-surpassing carrying robot

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Embodiment Construction

[0027] The technical solution of the present invention will be described in detail below with reference to the drawings and embodiments.

[0028] Such as figure 1 As shown, an obstacle-surmounting carrier robot includes a car body A and first to fifth obstacle-breaking wheels B, C, D, E, and F arranged on the car body A. The first to fifth obstacle-crossing wheels B, C, D, E, F are exactly the same, the first obstacle-crossing wheel B is installed on the second mechanical arm A-f, and the second to fifth obstacle-crossing wheels C, D, E, F Mounted at the four vertices of chassis A-d. The first to fifth obstacle-crossing wheels B, C, D, E, and F realize the deformation of the outer contour of the wheel and the forward, backward, and differential steering of the robot by an independent drive system inside the wheel. The car body A is provided with first and second mechanical arms A-e and A-f, and the first and second mechanical arms A-e and A-f are driven by two third motors A...

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Abstract

An obstacle-crossing carrying robot comprises a vehicle body (A) and first to fifth obstacle-crossing wheels (B, C, D, E and F), wherein the first to the fifth obstacle-crossing wheels (B, C, D, E and F) are arranged on the vehicle body (A) and are completely the same; the first obstacle-crossing wheel (A) is mounted on a mechanical arm of the vehicle body (A); the second to the fifth wheels (C, D, E and F) are mounted at four top points of the vehicle body (A). The outer contours of the obstacle-crossing wheels can be deformed by internal independent driving systems; the obstacle-crossing wheels cooperate with the mechanical arm to realize the high obstacle crossing performance and carrying function of the robot. The mechanism of the robot has favorable maneuverability, reliability and topographical adaptive capacity, can be used for military reconnaissance, disaster assistance, cargo transportation, planetary exploration and other fields.

Description

technical field [0001] The invention relates to the field of robots, in particular to an obstacle-surmounting robot. An obstacle-surmounting carrying robot of the present invention is a robot mechanism that utilizes obstacle-overriding wheels capable of changing wheel diameters and a vehicle body mechanical arm to realize the obstacle-overriding function. Background technique [0002] At present, the research on obstacle-surpassing robots has gradually become a hot spot in the field of robotics research. Obstacle-crossing robots can adapt to complex and changeable environments, replace personnel to reach special environments to complete tasks such as military reconnaissance and scientific research, and are mostly used in material delivery, disaster rescue, planetary exploration and other fields. Obstacle-surmounting robots need to have the characteristics of reliability, maneuverability, controllability and obstacle-surmounting ability in complex environments. [0003] By ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D61/10B60B19/00
Inventor 姚燕安武建昫
Owner BEIJING JIAOTONG UNIV
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