Universal wheeled robot

Abstract

The invention relates to a universal wheeled robot. The universal wheeled robot is mainly composed of a robot vehicle body, a comprehensive control system, travelling mechanisms and a sensor system. The wheeled robot is of a bilateral motor driving structure, the travelling mechanisms adopt wheeled travelling mechanisms, and a front driving gear, a rear driving gear and a chain wheel are installed on each side of the vehicle body; the chain wheel drives a driven chain to pass the torque output by a driving motor to the driving gears on the same side, the driving gears on the same side and the chain are installed in a damping box, the damping box is fixed to a vehicle frame through a suspension swinging arm and an independent suspender, and the wheel base between driving wheels is larger than 1.25 times of the wheel tread. According to the universal wheeled robot, the specific travelling mechanisms both enhance the obstacle surmounting capability of the robot and improve the travelling stability of the robot, so that not only does the robot have the characteristic of fast moving like a wheeled mobile robot, but the robot has the capability of surmounting an obstacle like a crawling mobile robot.

Description

technical field [0001] The invention relates to the field of automatic mechanical devices, in particular to a universal wheeled robot. Background technique [0002] Wheeled mobile robots can take advantage of their fast moving speed under good road conditions. However, the driving wheels are usually rigidly connected to the chassis, that is, the wheels are directly fixed on the frame. When the ground is uneven, the wheels vibrate and the wheels The shocks are transmitted directly to the robot, causing it to bump badly, resulting in insufficient off-road performance. [0003] The crawler-type walking structure has strong off-road performance, but has defects such as slow moving speed, complicated mechanical structure, high energy consumption, and high cost. SUMMARY OF THE INVENTION [0004] In view of this, the object of the present invention is to propose a general-purpose wheeled robot, which can have better obstacle-surmounting performance and higher walking speed in co...

AI Technical Summary

Problems solved by technology

[0002] Wheeled mobile robots can take advantage of their fast movement speed under good road conditions. However, the driving wheels are usually rigidly connected to the chassis, that is, the wheels are directly fixed on the frame. When the ground is uneven, the wheels vibrate and the wheels Shocks are transmitted directly to the robot, making it bump badly, resulting in insufficient off-road performance

[0003] The crawler-type walking structure has strong off-road performance, but has defects such as slow moving speed, complex mechanical structure, high energy consumption, and high cost

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