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Wheel-foot conversion mechanism for mobile robots

A mobile robot and conversion mechanism technology, which is applied in the direction of motor vehicles, transportation and packaging, can solve the problems of slow walking speed and poor obstacle avoidance ability, and achieve the effect of reducing power consumption, saving processing and assembly costs, and compact structure.

Active Publication Date: 2017-02-01
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problems of poor obstacle avoidance ability of existing wheeled robots and slow walking speed of existing footed robots, the present invention further provides a wheel foot mechanism for mobile robots

Method used

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  • Wheel-foot conversion mechanism for mobile robots
  • Wheel-foot conversion mechanism for mobile robots
  • Wheel-foot conversion mechanism for mobile robots

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specific Embodiment approach 1

[0017] Specific implementation mode one: as Figure 1~5 As shown, the wheel-foot conversion mechanism for a mobile robot in this embodiment includes a wheel-foot conversion body A, a lifting mechanism B, a rotating mechanism C, and a switching mechanism D;

[0018] The wheel-foot conversion body A includes a fixed half-wheel 1, a movable half-wheel 2, a single banner 3, a central shaft 4, a first limit block 5 and a spring 7, and the central shaft 4 is installed at the center of the fixed half-wheel 1 through a first bearing , one end of the central shaft 4 is fixedly connected and axially locked by the first stopper 5, the other end of the central shaft 4 is provided with a shoulder 4-1, and the spring 7 is set on the central shaft 4 and located on the first bearing Between the shoulder 4-1, the other end of the central shaft 4 is processed with a central blind hole 4-2, and the central blind hole 4-2 is processed with a first keyway; the fixed half wheel 1 is processed with ...

specific Embodiment approach 2

[0022] Specific implementation mode two: as figure 2 As shown, two fixed banners 1-3 are arranged on the fixed half-wheel 1 in this embodiment, and the two fixed banners 1-3 are arranged at right angles. Such setting ensures the rigidity of the fixed half-wheel 1, and no serious deformation will occur under the condition of radial force. Designing the fixed banner 1-3 and the fixed half-wheel 1 as two parts also reduces the processing cost. difficulty and cost. Other components and connections are the same as those in the first embodiment.

specific Embodiment approach 3

[0023] Specific implementation mode three: as figure 2 As shown, the wheel-foot conversion body A in this embodiment also includes a stopper 6 and a movable banner 8, the stopper 6 is arranged on the inner wall of the movable half-wheel 2, and a notch is processed at the joint of the two fixed banners 1-3 1-2. When switching the wheel state, the single banner 3 is limited in the horizontal position by the notch 1-2, the upper end of the single banner 3 is in contact with the stopper 6, and the movable banner 8 is vertically arranged on the wheel foot conversion body A. In the lower half, one end of the movable banner 8 is fixedly connected with the central axis 4, and the other end of the movable banner 8 is fixedly connected with one end of the movable half-wheel 2. With such a design, it is easy to see that the single-span 3 is a follower spoke, which can rotate with the movable half-wheel 2 when the wheel foot is converted, and plays a role in improving the rigidity of the...

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Abstract

The invention discloses a wheel foot switching mechanism for a mobile robot, and relates to the wheel foot switching mechanism. The problems that the obstacle avoidance ability of an existing wheeled robot is poor and an existing foot type robot walks slowly are solved. one end of a central shaft is fixedly connected and is locked axially through a first limiting block, the other end of the central shaft is provided with a shoulder, a spring sleeves the central shaft and is arranged between a first bearing and the shoulder, a center blind hole is formed in the other end of the central shaft, and a first key groove is formed in the interior of the center blind hole; a half-ring groove is formed in a fixed half wheel in the peripheral direction of the fixed half wheel, a moving half wheel is connected with the fixed half wheel in a rotating mode relative to the central shaft, when a wheeled type state is switched, a complete wheel is formed by the fixed half wheel and the moving half wheel, when a foot type state is switched, the moving half wheel rotates and is arranged in the half-ring groove of the fixed half wheel, and a single scroll is installed on the central shaft. The invention belongs to the field of the mobile robot.

Description

technical field [0001] The invention relates to a wheel-foot conversion mechanism, in particular to a wheel-foot conversion mechanism for a mobile robot. The robot can switch between wheel-foot modes. Background technique [0002] The current disaster relief work is mainly based on manual search and rescue, which greatly limits the level and efficiency of rescue, causing many victims to miss the best treatment time and lose their precious lives. Because most of the search and rescue sites are severely damaged by fire, bombs, water, etc., the ground environment of the site is extremely complex, including flat roads and potholes; jungles, grasslands, stairs, obstacles, etc. These situations require the robot to have a particularly strong adaptability to the environment, not only to be able to move on a plane, but also to be able to climb up and down stairs and climb obstacles. At present, a single legged robot or a single wheeled robot cannot meet the requirements of the robo...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/028
CPCB62D57/028
Inventor 臧希喆孙欣然李长乐朱延河赵杰
Owner HARBIN INST OF TECH
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