Terrain-adaptive transformable mobile robot

A mobile robot and self-adaptive technology, applied in the field of mobile robots, can solve the problems of fragile walking mechanism, low friction resistance, poor reliability and stability, etc. Effect

Active Publication Date: 2014-09-24
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Tracked mobile robots have the advantages of strong off-road capability and simple control, but they are not flexible enough and the walking mechanism is easily damaged
Legged mobile robots have strong terrain adaptability, but the mechanical structure and control system are complicated, and the speed is slow and the stability is poor.
Jumping mobile robots are small in size and compact in structure, but poor in reliability and stability
Compared with these, wheeled robots have simple mechanism, small frictional resistance, fast speed, high efficiency, and simple control, so they are widely used, but wheeled robots are slightly insufficient in obstacle surmounting ability

Method used

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  • Terrain-adaptive transformable mobile robot

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Embodiment Construction

[0021] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0022] Such as figure 1 Shown: mobile robot of the present invention is made up of balance mechanism 1, rocker mechanism 2, steering mechanism 3, wheel mechanism 4, and two rocker mechanisms 2 are fixedly installed on both sides of balance mechanism 1, each rocker mechanism 2 A steering mechanism 3 is arranged at both ends, and a rotor mechanism 4 is arranged at the lower end of each steering mechanism 3 .

[0023] Such as figure 2 Shown: Balance mechanism 1 includes chassis 1-6, connecting shaft a1-1, connecting shaft b1-5, bevel gear a1-2, bevel gear b1-3, bevel gear c1-7, transmission shaft 1-8, bevel gear a1-2 is installed on the connecting shaft a1-1, the connecting shaft a1-1 is installed on the chassis 1-6 through the mounting seat a1-10, the bevel gear b1-3 is installed on the connecting shaft b1-5, and the connecting shaft...

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Abstract

The invention provides a terrain-adaptive transformable mobile robot, which comprises a balance mechanism, two rocker arm mechanisms, steering mechanisms and rotor mechanisms, wherein the two rocker arm mechanisms are fixedly installed on two sides of the balance mechanism; two ends of each rocker arm mechanism are respectively provided with one steering mechanism; the lower end of each steering mechanism is provided with one rotor mechanism. According to the terrain-adaptive transformable mobile robot disclosed by the invention, differential motion is realized by the differential gear set of the balance mechanism so as to adapt to the variation of rugged terrain; different configurations are obtained by the variation of the rocker tilt angles of the rocker arm mechanisms and the L-shaped rod corners of the steering mechanisms. The terrain-adaptive transformable mobile robot disclosed by the invention is a transformable wheel-type mobile robot which has the advantages of multi degrees of freedom, changeable construction, strong terrain adaption capability and stable and reliable structure.

Description

technical field [0001] The invention relates to a mobile robot, in particular to a terrain-adaptive deformable mobile robot. Background technique [0002] Mobile robots are widely used in aerospace, military, rescue, service, entertainment and other fields. Different terrain environments will be encountered in actual work, and the terrain adaptability of a mobile robot plays an important role in the reliability and stability of its movement. [0003] According to different walking motion mechanisms, mobile robots can be divided into: crawler type, leg type, jump type, wheel type, etc. Tracked mobile robots have the advantages of strong off-road capability and simple control, but they are not flexible enough and the walking mechanism is easily damaged. Legged mobile robots have strong adaptability to terrain, but their mechanical structures and control systems are complicated, and their speed is slow and their stability is poor. Jumping mobile robots are small in size and ...

Claims

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Application Information

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IPC IPC(8): B62D61/10
Inventor 徐贺唐涛郭卫兴杨文成许怡贤朱海涛王文杰匡振骠
Owner HARBIN ENG UNIV
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