Multi-motion-mode mobile robot

A multi-motion mode and mobile robot technology, which is applied to motor vehicles, transportation and packaging, etc., can solve the problem of less deformation of robots, achieve the effect of saving transportation and storage space, and improving mobility

Active Publication Date: 2013-12-25
BEIJING JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the limitations of the structure and degrees of freedom of the

Method used

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Embodiment Construction

[0019] The present invention will be further described in conjunction with accompanying drawings.

[0020] like figure 1 As shown, the multi-motion mode robot includes cross rod A (10), cross rod B (20), eight swing rods (11, 12, 13, 14, 21, 22, 23, 24), four connecting rods A ( 31), four connecting rods B (32), four connecting shafts (30), eight pendulum motors (41, 42, 43, 44, 45, 46, 47, 48) and four adjusting motors (51, 52, 53, 54).

[0021] refer to figure 1 , figure 2 , the cross rod A (10) has a cross shape, and the cross rod has four ends, wherein the first adjustment motor (51) and the third adjustment motor (53) are installed on the two horizontal ends, and the vertical The two ends of the cross rod A (10) are equipped with connecting holes; the two ends of the cross rod A (10) with motors are respectively connected to the first swing rod (11) and the third swing rod (13); the two ends of the cross rod A (10) without motors The ends are movably connected to th...

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Abstract

The invention discloses a multi-motion-mode mobile robot. The multi-motion-mode mobile robot comprises a cross-shaped rod A, a cross-shaped rod B, eight oscillating rods, four connecting rods A, four connecting rods B, four connecting shafts, four adjusting motors and eight oscillating rod motors, wherein four end parts of the cross-shaped rod A and the cross-shaped rod B are respectively connected with four oscillating rods, each oscillating rod is provided with a motor, the oscillating rods which are connected with the cross-shaped rod A are fixedly connected with the connecting rods A through motor shafts, the oscillating rods which are connected with the cross-shaped rod B are fixedly connected with the connecting rods B through motor shafts, and the connecting rods A and the connecting rods B are movably connected together through the connecting shafts. The multi-motion-mode mobile robot disclosed by the invention can be contracted and folded in a narrow space by controlling the positions of the eight oscillating rods, and the multi-motion-mode mobile robot can be changed into an annular rolling robot and a four-feet walking robot.

Description

technical field [0001] The invention relates to a mobile robot, in particular to a mobile robot with variable motion modes. The device can be used for surveying special terrain and performing special tasks in the military field; it can be used as entertainment facilities in the civilian field. Background technique [0002] Chinese patent application CN101973319 discloses a rolling hexahedron mechanism. The mechanism consists of 4 branch chains and 2 cross rods, and is driven by 2 motors. Able to scroll. Chinese patent CN102145719 discloses a rolling robot, in which two cross rods are connected to four connecting rods through 8 U pairs to realize rolling motion. However, due to the limitation of the structure and the degree of freedom of the above two technical solutions, the deformation of the robot is less, and the robot can only roll. Patent CN102673669 discloses a moving mechanism, which improves the deformation and moving ability of the mechanism by improving the kin...

Claims

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Application Information

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IPC IPC(8): B62D57/02B62D57/032
Inventor 姚燕安田耀斌
Owner BEIJING JIAOTONG UNIV
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