Six-wheel-foot type moving robot with three robot bodies

A mobile robot, a three-stage technology, applied in the field of robotics, can solve the problems of single movement mode and insufficient flexibility of the mobile mechanism, and achieve the effect of wide application range, various movement modes, and improved movement flexibility

Active Publication Date: 2016-06-15
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a six-wheeled mobile robot with a three-section body in o

Method used

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  • Six-wheel-foot type moving robot with three robot bodies
  • Six-wheel-foot type moving robot with three robot bodies
  • Six-wheel-foot type moving robot with three robot bodies

Examples

Experimental program
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Effect test

specific Embodiment approach 1

[0021] Specific implementation mode one: as Figure 1 ~ Figure 4 As shown, this embodiment describes a six-wheeled mobile robot with a three-segment body, including a three-segment body, a front body articulation joint 4, a rear body articulation joint 5, and six legs. The three-segment body is respectively It is the front body 1, the middle body 2 and the rear body 3, and the six legs are respectively the left front leg 6, the left middle leg 7, the left rear leg 8, the right front leg 9, the right middle leg 10, and the right rear leg 11; The above six legs have the same structure and are all wheel-foot composite legs. The middle part of the rear end of the front body 1 is rotationally connected with the middle part of the front end of the middle body 2 through the hinge joint 4 of the front body. Body articulation joint 5 is rotationally connected with the middle part of the front end of rear body 3 , said front body 1 rotates left and right around the vertical axis of fron...

specific Embodiment approach 2

[0023] Specific implementation mode two: as figure 1 , image 3 , Figure 5 and Figure 6 As shown in the first embodiment, a six-wheeled mobile robot with three sections of the body, the left front end of the front body 1 is fixed with a left front connecting ear 41, the left front leg 6 and the left front of the front body 1 The connecting ear 41 is rotationally connected, and the right front end of the front body 1 is fixed with a right front connecting ear 42, and the right front leg 9 is rotationally connected with the right front connecting ear 42 of the front body 1;

[0024] The middle part of the left side wall of the middle body 2 is fixed with a left middle connecting ear 43, the left middle leg 7 is rotationally connected with the left middle connecting ear 43 of the middle body 2, and the middle part of the right side wall of the middle body 2 is fixed with a right middle connecting ear. Ear 44, the right middle leg 10 is rotationally connected with the right m...

specific Embodiment approach 3

[0026] Specific implementation mode three: as Figure 1 to Figure 6 As shown, the six-wheeled mobile robot with three sections of the body described in the second embodiment, the six legs have the same structure, including a pin shaft one 12, a slider one 13, a limit stopper one 14, Joint one 15, connecting rod one 16, joint two 17, connecting rod two 18, joint three 19, connecting rod three 20, joint four 21, pin two 22, slider two 23, limit block two 24, joint five 25. Connecting rod four 26, joint six 27, joint seven 28, connecting rod five 29, joint eight 30, connecting rod six 31, joint nine 32, joint ten 33, wheel foot conversion plate 34, linear drive 35, joint eleven 36. Foot end 37, joint 12 38, wheel 39 and joint 13 40;

[0027]The pin one 12 is vertically arranged, the joint four 21 is rotatably mounted on the pin one 12 (that is, the joint four 21 can rotate around the pin one 12), and the slider one 13 is slidingly sleeved on the pin On the shaft one 12 (that is...

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Abstract

The invention provides a six-wheel-foot type moving robot with three robot bodies, and belongs to the technical field of robots. The problems that an existing moving robot is singular in moving mode and insufficient in moving mechanism flexibility can be solved. The rear end of the front robot body is rotationally connected with the front end of the middle robot body through a front robot body hinge joint. The rear end of the middle robot body is rotationally connected with the front end of the rear robot body through a rear robot body hinge joint. A left front leg and a right front leg are distributed at the left and right sides of the front robot body and both rotationally connected with the front robot body. The left middle leg and a right middle leg are distributed at the left and right sides of the middle robot body and both rotationally connected with the middle robot body. A left rear leg and a right rear leg are distributed at the left and right sides of the rear robot body and both rotationally connected with the rear robot body. The wheel-foot composite type design is adopted by the legs of the robot, and switching of foot type movement and wheel type movement is achieved through a plane four-bar mechanism. The robot has a foot type stable walking function and a wheel type rapid moving function; a mammal-imitating type moving mode and an insect-imitating type moving mode can be achieved through foot type walking, and three steering modes of differential steering, front-wheel steering and pivot steering can be achieved through wheel type moving.

Description

technical field [0001] The invention relates to a six-wheel-foot composite mobile robot, which belongs to the technical field of robots. Background technique [0002] The ground movement methods mainly include wheel type, crawler type, foot type, peristaltic type and vibration type. Wheeled mobile has the advantages of fast movement speed and high mobile efficiency, but its ability to overcome obstacles is poor and can only adapt to relatively flat ground; crawler mobile can pass small obstacles, but the passability of rough terrain is still insufficient, and the transmission efficiency is low; Foot-like walking has strong terrain adaptability and obstacle-surmounting ability, but its walking speed is slow and its energy efficiency is low. Therefore, each type of movement has its own specific terrain conditions, and the wheel-foot compound movement combines the advantages of wheel and foot movement. The flat terrain uses the wheel to pass quickly, and the complex terrain us...

Claims

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Application Information

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IPC IPC(8): B62D57/028B25J5/00
CPCB25J5/007B62D57/028
Inventor 邓宗全刘逸群丁亮高海波汪昆鹏于海涛金马
Owner HARBIN INST OF TECH
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