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Track-leg and foot hybrid mobile robot

A mobile robot and composite technology, applied in the field of mobile robots, can solve the problems of inability to travel, difficulty in travel, etc.

Pending Publication Date: 2017-06-27
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Although the configuration of the crawler used by the robot can be appropriately changed according to the terrain conditions and operation requirements, it is difficult or impossible to pass through places with high obstacles such as stairs, stone piles, and branches.

Method used

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  • Track-leg and foot hybrid mobile robot

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Embodiment Construction

[0016] Such as figure 1 As shown, the crawler-leg-foot compound mobile robot of the present invention includes a crawler walking unit 1, and a thigh auxiliary obstacle-crossing unit 2 is installed on both sides of the front part and the rear part of the crawler walking unit 1, and each thigh assists A shank auxiliary obstacle-surmounting unit 3 is connected to the obstacle-surmounting unit 2 .

[0017] The crawler walking unit 1 can adopt various existing crawler-type mobile robots, such as CN101780817A disclosed "Coal Mine Underground Dangerous Area Detection Robot Platform". The walking unit of "Coal Mine Underground Dangerous Area Detection Robot Platform" is as follows: figure 2 As shown, including the front drive wheel 6 and the rear wheel (not shown in the figure), the two front drive wheels 6 are installed on the two front wheel hollow shafts 7 respectively, and the two front wheel hollow shafts 7 are respectively arranged on the positive pressure housing Both sides ...

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Abstract

A track-leg and foot hybrid mobile robot comprises a track traveling unit, auxiliary thigh obstacle-crossing units are mounted on two sides of the front and the rear of the track traveling unit respectively, and an auxiliary shank obstacle-crossing unit is connected to every auxiliary thigh obstacle-crossing unit. In a conventional track traveling mode, thighs can assist in obstacle crossing and are extended to cross low obstacles but shanks can be put away through contraction; a shank participation mode can be changed into a four-foot movement mode. Both the thighs and the shanks on two sides are driven by independent power systems and can swing independently under control of a control system so as to assist in obstacle crossing or traveling like four feet. The track-leg and foot hybrid mobile robot has the advantages that the thighs and the shanks are added on the basis of a conventional tracked robot, and the track-leg and foot hybrid mobile robot can travel in a traditional track mode and can cross the obstacles with the aid of the four-foot mode, so that a steady traveling speed and energy efficiency of the tracked robot are maintained, and high trafficability of a footed robot is enhanced.

Description

technical field [0001] The invention relates to a compound mobile robot combined with crawlers and legs and feet, belonging to the technical field of mobile robots. Background technique [0002] Tracked mobile robots move quickly and smoothly on flat road conditions, with high energy utilization efficiency and energy saving; they can also drive on undulating road conditions or road conditions such as sand, mud, and steep slopes, and have a wide range of applications. For example, CN101780817A discloses "Underground Coal Mine Dangerous Area Detection Robot Platform". [0003] Although the configuration of the crawler belt used by the robot can be appropriately changed according to terrain conditions and operation requirements, it is difficult or impossible to pass through places with higher obstacles such as stairs, stone piles, and branches. The quadruped robot is the best form of multi-legged robot, which has great advantages in adapting to complex terrain, flexible moveme...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D55/065B62D57/028
CPCB62D55/065B62D57/028
Inventor 荣学文温刚周军马昕李贻斌宋锐李彬
Owner SHANDONG UNIV
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