Time-sharing separate driving combined drive method

Abstract

The invention discloses a time-sharing separate driving combined drive method which adopts a machine body, a group of power supplies, 2*n action wheels, two auxiliary obstacle-crossing devices, a plurality of motors and m power shafts, wherein the action wheels are separately arranged at two sides of the machine body; the two auxiliary obstacle-crossing devices are located at two sides of the machine body separately, one end of each auxiliary obstacle-crossing device is fixed on a power shaft between a front wheel and a back wheel and the other end is suspended; and the motors are divided into two groups A and B and are driven by one group of power supplies in a time-sharing switching manner. Under regular road conditions, the power supplies drive the motors in the group A to work, and the machine body carries out advancing, retreating and swerving in a wheeled manner. Under irregular road conditions, the motors are switched into the motors in the group B to work, and the auxiliary obstacle-crossing devices are driven to rotate to cross obstacles. One group of power supplies are always adopted for driving two groups of motors in a time-sharing manner and the two groups of motors are mutually independent, so that the weight of the whole machine is reduced, the structure is simple and control is convenient; and a climbing mode and a rolling mode can be combined for use according to specific conditions, so that the obstacle-crossing efficiency is high, and the machine has the characteristic of high obstacle-crossing ability of a tracked robot and a legged robot.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a walking mechanism of a mobile robot. Background technique [0002] The invention of robots is to help people do some jobs that cannot be done directly, such as rescue of natural disasters, fires, nuclear accidents, etc., and to do some deep sea and outer space experiments. However, the premise for the robot to do the above-mentioned work is that the robot must pass through the complex terrain to reach the scene smoothly, so overcoming obstacles is a must-have ability for the robot. [0003] At present, obstacle-climbing robots are mainly divided into wheel type, foot type, crawler type and hybrid type. Among them, the legged robot has a strong ability to overcome obstacles, but its walking efficiency is low, its control is difficult, and its structure is complex; the crawler robot has its ability to overcome obstacles, its control difficulty is small, but its struct...

AI Technical Summary

Problems solved by technology

Among them, the legged robot has a strong ability to overcome obstacles, but its walking efficiency is low, the control is difficult, and its structure is complex; the crawler type robot has a strong ability to overcome obstacles, and its control is less difficult, but its structure is complex, and the whole body is heavy, its power consumption is large, and its walking efficiency is low. Low; hybrid type, good obstacle-crossing ability, but complex structure, difficult to control; wheel type, with simple mechanism, flexible and convenient driving and control, fast driving speed, high work efficiency, etc., but poor obstacle-crossing ability

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