Wheel-track combined self-adaption robot mobile platform based on planet wheels

Abstract

The invention relates to a wheel-track combined self-adaption robot mobile platform based on planet wheels. The wheel-track combined self-adaption robot mobile platform based on the planet wheels is characterized in that the platform comprises a car body module, two wheel-track combined modules and two tail wheel modules; the two wheel-track combined modules are distributed on the left side and the right side of the car body module in a central symmetry mode around the symmetry axis of the car body module, a power driving system used for driving the two wheel-track combined modules to act is mounted in the car body module, and the two rail wheel modules are symmetrically distributed at the front end and the rear end of the car body module; the mobile platform is of a central symmetry structure around the symmetry axis of the car body module on the whole; and taking the wheel-track combined module on the right side as an example, the wheel-track combined module comprises two part structures which are symmetrical in the front-back direction, a synchronous belt, synchronous belt wheels and a caterpillar track supported by the two part structures, the two part structures symmetrical in the front-back direction are arranged symmetrically on the front and rear positions of the car body module, and the synchronous belt and the synchronous belt wheels are mounted on the front part structure. The mobile platform has the capacity to passively adapt to obstacles, and is capable of crossing the obstacles forwards and backwards.

Description

technical field [0001] The invention relates to the technical field of robot mobile platforms, in particular to a wheel-track composite adaptive robot mobile platform based on planetary wheels. Background technique [0002] Existing passive adaptive robots are generally divided into three categories: wheeled, crawler and wheel-track composite. The Mars Pathfinder robot in the United States is a typical wheeled passive adaptive robot. The Mars Pathfinder robot can move on rough, rugged, and steep complex terrain, but it can only adapt to continuous terrain changes and cannot climb stairs; Crawler series robots are typical crawler-type passive adaptive robots. Crawler series robots can pass through smaller obstacles, but cannot cross large obstacles, and pure crawler transmission consumes a lot of energy; the Chinese patent No. ZL2010102195152 discloses a A wheel-track composite deformation mobile robot with self-adaptive ability. This robot is a typical wheel-track composite...

AI Technical Summary

Problems solved by technology

For example, the patent with the publication number CN106114661A discloses a mobile platform for a deformable crawler robot based on a four-bar linkage mechanism. The mobile platform has a large impact on the mobile platform during the wheel-track mode switching process, which greatly raises the center of gravity of the mobile platform. The stability of the fault process is poor

Wheeled and tracked are separated, and the robot that switches motion modes by controlling flipping is the CLIMBER robot developed by Shenyang Institute of Automation, Chinese Academy of Sciences. This robot requires complex control and structure to switch between wheeled and tracked, and the mode switching is complicated. Slow and very unstable center of gravity

These robots are unstable during the mode switching process, and cannot achieve forward and reverse obstacle surmounting, and cannot return to the original path in a narrow passage

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