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Wheel-legged robot chassis suspension device

A suspension device and robot technology, which is applied in the field of robot and vehicle chassis suspension, can solve the problems of robot chassis height, unstable center of gravity, and poor adaptability of crawler robots, etc., and achieve improved obstacle surmounting performance, benefit from stealth, and improve space utilization. Effect

Inactive Publication Date: 2014-03-26
PLA SECOND ARTILLERY ENGINEERING UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The wheeled mobile robot overcomes these shortcomings of the crawler type. Under the premise of satisfying certain terrain adaptability, it can give full play to the advantages of flexible movement and simple control of the mobile robot, but its adaptability to the terrain is not as good as that of the crawler robot. , the adaptability of the wheeled mobile robot to the terrain is proportional to the variable displacement of the wheels relative to the chassis of the vehicle body, but with the increase of the displacement of the suspension device relative to the chassis of the vehicle body, the robot chassis is higher and the center of gravity is not stable. Steady and other disadvantages

Method used

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Experimental program
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Effect test

Embodiment

[0035] Realization of legged walking function:

[0036] The leg type walking mechanism is made up of leg type mobile driven sprocket 18, joint bearing 27, rocking arm 2, steering seat 21, lower rocker arm 11, wheel end steering seat 5, wheel end steering seat 8, joint bearing 27 and driven Sprocket 18 is eccentrically hinged, and one end of joint bearing is hinged with upper rocker arm 2, and the middle part of upper rocker arm 2 is connected with steering seat 21 by a through shaft, and the rocking arm end and two rocking bars are connected with wheel end steering seat 8. The leg-type walking drive motor 13 drives the leg-type mobile driven wheel 18 through the driving sprocket 14, and then relies on the rotation of the driven sprocket 18 to make the upper rocker arm 2 produce a spatial cycle motion, and then drives the entire suspension device to complete an approximate circular motion; at the same time Relying on the set phase relationship among the six suspension devices, ...

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Abstract

The invention relates to a wheel-legged robot chassis suspension device. The wheel-legged robot chassis suspension device comprises a wheel type moving driving mechanism, a wheel type moving mechanism, a leg type traveling mechanism, a leg type traveling driving mechanism and a steering mechanism; the wheel type moving mechanism and the leg type traveling mechanism share three pairs of wheels, each wheel is respectively connected with the wheel type moving mechanism and the leg type traveling mechanism through a tire steering base arranged on the corresponding wheel, an angle sensor is arranged on the upper side of a hub of each wheel, and the phase difference between the angle sensors installed on every two adjacent hubs is 180 degrees; the wheel type moving driving mechanism and the leg type traveling driving mechanism are independent from each other and arranged at the two ends of a wheel-legged robot chassis respectively. Compared with the prior art, the wheel-legged robot chassis suspension device combines a leg type mechanism and a wheel type mechanism, integrates the advantages of the leg type mechanism and the wheel type mechanism, is good in obstacle crossing performance, adaptability and stability, achieves a cushioning effect, and does not need to be adjusted by means of an addition control mechanism; the leg type mechanism and the wheel type mechanism coordinate to work together, the speed is high, maneuverability is good, and control is simple.

Description

Technical field: [0001] The invention belongs to the technical field of robot and vehicle chassis suspension, and relates to a wheel-leg type robot chassis suspension device. Background technique: [0002] Robots can be divided into wheeled robots, footed robots, crawler robots, crawling robots, etc. according to their moving methods. Divided by operating space: land mobile robots, underwater robots, unmanned aircraft and space robots, etc. Divided by function and purpose: medical robots, military robots, disabled robots, cleaning robots, etc. Wheeled robots can be divided into articulated wheeled robots, planetary wheeled robots, and ordinary wheeled robots according to the characteristics of the robot's moving mechanism. According to the number of wheels, wheeled mobile robots have single-wheel, four-wheel, five-wheel, six-wheel and eight-wheel structures. [0003] In the prior art before the present invention, the walking device of robot is mainly wheeled or legged str...

Claims

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Application Information

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IPC IPC(8): B62D61/10B62D61/12
Inventor 周凯郭剑锋陈建郭自华任栩陈慧君闫少石
Owner PLA SECOND ARTILLERY ENGINEERING UNIVERSITY
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