Tracked deformable robot mobile platform

Abstract

The invention relates to a robot moving platform with deformable tracks. The robot moving platform is characterized by comprising a trolley body module, two isosceles trapezoid wheel-track modules, a rear wheel driving module and an auxiliary bottom wheel module; the two isosceles trapezoid wheel-track modules are arranged on the two sides of the trolley body module in a bilateral symmetry mode. The auxiliary bottom wheel module is installed at the bottom of the trolley body module. The rear wheel driving module is located on the rear portion of the trolley body module. The trolley body module comprises a motor driver, a shell, two track driving systems and two rear wheel driving systems. The motor driver is installed in the center of the trolley body module. Both the two track driving systems and the two rear wheel driving systems are arranged symmetrically in parallel with a straight line where the motor driver is located as an axis. The track driving systems and the rear wheel driving systems are installed in the shell in opposite directions. The bottom of shell is connected with the auxiliary bottom wheel module. Each track driving system comprises a servo motor, a motor reducer, a motor installing rack and a bevel gear.

Description

technical field [0001] The invention relates to the technical field of robot mobile platforms, in particular to a crawler deformable robot mobile platform. Background technique [0002] In the existing research on robot mobile mechanisms, wheeled mobile robots have better flexibility and mobility, but they are mainly used in flat ground environments; legged mobile robots can pass through more complex ground environments, but their efficiency is low, and the control algorithm Complicated; crawler robots have been extensively applied and researched, and have both efficiency and obstacle passing performance. Ordinary crawler robots are mostly joint-swing arm structures, which actively adapt to environmental changes by adjusting the angle of the joint swing arm. This type of robot relies heavily on the environmental information fed back by sensors and active control and adjustment. The passive adaptive crawler robot can use the constraint force in the environment as an effectiv...

AI Technical Summary

Problems solved by technology

[0003] The existing passive adaptive crawler robot research includes: Chinese patent No. ZL2013101764130 discloses a passive adaptive crawler deformable mobile robot platform, the robot platform uses an underactuated planar six-bar mechanism as a mechanism to support the crawler, and can Through obstacles higher than the track, but its deformation is not large, the speed of the flat road is low, and the auxiliary swing arm module does not achieve much effect in practical applications; the Chinese patent No. ZL2010102195152 discloses a self-adaptive The wheel-track composite deformation mobile robot has two wheel-track motion modes, but when it moves in wheel mode, the track is still in contact with the ground as a virtual wheel, and it must maintain the same linear speed as the driving wheel, which is easy to produce track The friction with the ground, the way of its front wheel drive makes it insufficient in the ability to overcome obstacles in the wheeled sports mode, and it is necessary to actively avoid small obstacles that are smaller than the width of the car body directly in front

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