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A deformable and foldable mobile robot

A mobile robot and driving motor technology, applied in the field of mobile robots, can solve the problems of limited folding ability, the branch chain cannot be completely folded, the fixed platform cannot be folded, etc. Effect

Active Publication Date: 2019-04-30
HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Similarly, not only the moving platform and the fixed platform of the robot cannot be folded, but also the branch chain cannot be completely folded, and the folding ability is very limited

Method used

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  • A deformable and foldable mobile robot
  • A deformable and foldable mobile robot
  • A deformable and foldable mobile robot

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Embodiment Construction

[0057] The preferred embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0058] figure 1 A deformable folding mobile robot as a preferred embodiment of the present invention is shown. Such as figure 1 As shown, the mobile robot includes a first platform A, a second platform B, and a first branch chain I, a second branch chain II, a third branch chain III and a fourth branch chain connecting the first platform A and the second platform B. Chain IV. Among them, the first platform A and the second platform B have the same structure, and both are equilateral four-bar linkage mechanisms, and the connecting rod members forming the equilateral four-bar linkage mechanism form a first rotation pair connection whose axes are parallel to each other. , and the equilateral four-bar linkage mechanism is configured such that each link member therein can be folded into a plane commonly defined by the axes of the fi...

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Abstract

The invention provides a mobile robot capable of achieving deformation folding. The mobile robot comprises a first platform, a second platform, a first branched chain, a second branched chain, a third branched chain and a fourth branched chain, wherein the first branched chain, the second branched chain, the third branched chain and the fourth branched chain are used for connecting the first platform with the second platform; the first platform and the second platform are each an equilateral four-link mechanism, first rotating pairs of which the axes are parallel to one another are formed among link components of the equilateral four-link mechanism for connection, and all the link components can be folded into a plane defined by the axes of the first rotating pairs jointly; the two ends of each of the first branched chain, the second branched chain, the third branched chain and the fourth branched chain are connected with the first platform and the second platform through Hooke hinges respectively, and the first branched chain, the second branched chain, the third branched chain and the fourth branched chain each comprises two driving rods which form a second rotating pair for connection; one of the two rotating axes of each Hooke hinge and the axis of the corresponding first rotating pair are collinear, and the other rotating axis of each Hooke hinge is parallel to the axis of the corresponding second rotating pair. The robot has the high deformation folding capability and the large volume expansion ratio, is diverse in motion mode, can adapt to various terrains and is convenient to carry and transport.

Description

technical field [0001] The invention relates to a mobile robot, in particular to a deformable and foldable mobile robot. Background technique [0002] The parallel mechanism is a closed-loop system composed of multiple parallel chains. Compared with the traditional series mechanism, it has a series of advantages such as high rigidity, high precision, high load capacity, simple and compact structure, and easy to realize high-speed movement. It has attracted extensive attention from academic and engineering circles at home and abroad, and its application has almost involved all fields of modern cutting-edge technology. At present, researchers have applied parallel mechanisms to mobile robots, and the performance of this parallel mobile robot is better than wheel mobile robots and crawler mobile robots in some aspects. [0003] Scaling mechanism refers to a type of mechanism that has the ability of large-scale spatial deformation (including the change of space volume and the c...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J11/00
CPCB25J9/0009B25J9/003B25J9/0033B25J11/002
Inventor 苗志怀李兵江宇
Owner HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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