Multifunctional mechanical-arm and wheel cooperated traction mobile robot

Abstract

The invention aims at providing a multifunctional mechanical-arm and wheel cooperated traction mobile robot. The multifunctional mechanical-arm and wheel cooperated traction mobile robot comprises rocker arms, wheels and mechanical arms. The wheels are installed on the rocker arms. Each mechanical arm comprises a base, a back arm body, a middle arm body, a front arm body and a mechanical arm claw, wherein the base, the back arm body, the middle arm body, the front arm body and the mechanical arm claw are sequentially connected, the base is fixedly connected with the center of the corresponding rocker arm, three joints are formed by the base, the back arm body, the middle arm body and the front arm body, and a driving motor is installed at each joint. A steering engine is installed on each mechanical arm claw, and each mechanical arm claw is driven by the corresponding steering engine to achieve unfolding-folding motion. The two mechanical arms are installed on the two sides of a mobile robot body respectively. The multifunctional mechanical-arm and wheel cooperated traction mobile robot is suitable for various bumpy terrains and can be assisted to pass through various ground conditions such as protruding barriers, vertical barriers, ditches and pits; meanwhile, it is guaranteed that in the passing process, a vehicle body of the robot is stable, posture changes are small, and changes in the speed of the vehicle body are even.

Description

technical field [0001] The invention relates to a mobile robot. Background technique [0002] In recent years, wheeled mobile robots have been used more and more widely, especially in aerospace, service and entertainment fields. However, wheeled mobile robots have poor adaptability to terrain, especially in rough terrain, and their activities are greatly restricted. It hinders the function of the wheeled mobile robot. [0003] In order to solve this problem, people adopt various improvement methods. One method is to increase the adaptability to the terrain by increasing the number of wheels, but it will bring the disadvantages of the robot being too bulky and overweight, such as the patent "eight-wheel symmetrical suspension vehicle-mounted mechanism" with the publication number CN1597316; Considering the characteristics of the legged mobile robot's strong adaptability to the terrain, a wheel-legged mobile robot is designed. The wheel-legged robot has a strong ability to o...

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Problems solved by technology

One method is to increase the adaptability to the terrain by increasing the number of wheels, but it will bring the disadvantages of the robot being too bulky and overweight, such as the patent "eight-wheel symmetrical suspension vehicle-mounted mechanism" with the publication number CN1597316; Considering the characteristics of the legged mobile robot's strong adaptability to the terrain, a wheel-legged mobile robot is designed. The wheel-legged robot has a strong ability to overcome obstacles, but the robot's structural design is complex, and its ability to pass through concave ground is not as good as its ability to pass through raised obstacles. , and the posture of the robot body changes greatly during the passing process, and the vibration and shaking phenomenon of the vehicle body is obvious. For example, the patent "Rolling Wheel-leg Mobile Robot" with the publication number CN1317397 and the patent "Micro-wheel-legged mobile robot based on the wheel-leg composite mechanism" with the publication number CN1836838 small walking robot"

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