Novel wheel-legged complicated terrain moving robot
A mobile robot and robot technology, applied in the field of mobile robots, can solve problems such as fast single speed and strong obstacle-crossing ability of the robot, and achieve enhanced obstacle-crossing and climbing ability, strong obstacle-crossing ability, and strong leg-type obstacle-crossing ability Effect
Active Publication Date: 2017-06-30
SOUTHEAST UNIV
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Problems solved by technology
It can solve the problems of fast single speed and strong obstacle-crossing ability of robots at this stage, which is of great significance for improving the efficiency of reconnaissance, search, and processing, especially in solving emergency events in urban buildings
Solving the problem of relying on the camera to understand the robot's motion state at this stage is of great significance for improving operational efficiency and completing emergency handling tasks more accurately
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[0030] The present invention will be further illustrated below in conjunction with specific embodiments, and it should be understood that the following specific embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention.
[0031] like figure 1 , 2, 3, 4, and 5, the present invention discloses a novel composite wheel-legged mobile robot, which mainly consists of a robot front body, a robot rear body, four five-star wheel legs, two swing legs and a small four-degree-of-freedom The composition of the mechanical arm. The materials used are all aluminum alloys, and the connection methods of each part are connected by bolt fasteners.
[0032] like figure 1 As shown, the front body of the robot and the back body of the robot are connected by flexible joints, and the front body of the robot and the back body of the robot can rotate relatively; the four five-star wheel legs are respectively fixed on the front body of...
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The invention provides a novel wheel-legged complicated terrain moving robot. The novel wheel-legged complicated terrain moving robot comprises a robot front body and a robot rear body which are connected by means of a flexible joint. A pair of quinquangular wheel legs is connected to the robot front body and the robot rear body, respectively. A motor is connected to each quinquangular wheel leg. A pair of swaying legs is arranged on the robot front body or the robot rear body. A mechanical arm is fixed to the robot front body or the robot rear body. According to the invention, the obstacle crossing ability and the climbing ability of the moving robot are improved. The moving robot is also characterized by high traveling speed and good obstacle crossing ability. Moreover, the fusion of the moving robot technique and the sensor technique is solved so that the control personnel can better control the motion states of the robot. The problem of knowing the motion states of the robot by means of a camera at the present stage is solved, which is significant for improving the operation efficiency and more accurately completing an emergency handling task.
Description
[0001] Technical field: [0002] The invention relates to a novel wheel-leg complex ground mobile robot, which belongs to the technical field of mobile robots. [0003] Background technique: [0004] Mobile robots are a class of robots that can perform reconnaissance, search, and emergency response in dangerous and complex environments. Due to the complex application environment, the robot needs to have good ground adaptability and strong obstacle surmounting ability. With the advancement of urbanization, more and more buildings appear, and reconnaissance, search, and disposal in buildings have become the standard to measure the performance of mobile robots. Due to the complex working environment of this type, the mobile robot needs to have the characteristics of fast climbing stairs, fast driving speed, and easy operation. [0005] At present, mobile robots can be divided into wheeled, legged, crawler, etc. according to different mechanical structures, but all have their own...
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IPC IPC(8): B62D57/028
CPCB62D57/028
Inventor 宋爱国魏宏明宋子墨张琪李会军徐宝国
Owner SOUTHEAST UNIV