Novel wheel-legged obstacle negotiation platform
A wheel-legged, platform technology, used in motor vehicles, transportation and packaging, etc., can solve the problems of vibration and stable walking of wheeled robots.
Inactive Publication Date: 2017-09-12
JIANGNAN UNIV
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Problems solved by technology
[0004] Although the semicircle-legged robot has many advantages, it will cause shock when walking on a flat road, which is not as stable as the wheeled robot. robot leg structure
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[0013] like figure 1 As shown, the novel wheel-leg type obstacle-climbing platform of the present invention is characterized in that the driving mechanism 1 and the wheel-leg mechanism 5, the driving mechanism 2 and the wheel-leg mechanism 6, the driving mechanism 3 and the wheel-leg mechanism 7, the driving mechanism 4 and the wheel-leg mechanism Mechanisms 8 are combined and symmetrically distributed around the car body. It can be clearly seen that the wheel-leg mechanism is connected to the car body 9 through a driving mechanism, and each wheel-leg mechanism is driven forward by its own driving mechanism.
[0014] like figure 2 Shown, be the driving mechanism of the present invention, can find out that on the servo motor board 10, servo motor 11, servo motor 12 are housed, and servo motor 12 drives gear 13, and gear 13 meshes with gear 14, and gear 14 is through bearing and Servo motor board 10 connections. The guide 16 is fixed on the gear 14 through bolts, the driving ...
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The invention provides a novel wheel-legged obstacle negotiation platform. The platform comprises four driving mechanisms, four wheel-legged mechanisms and a vehicle body, wherein the wheel-legged mechanisms and the driving mechanisms are symmetrically distributed around the vehicle body in a combined mode, and the wheel-legged mechanisms are connected to the vehicle body through the driving mechanisms; the driving mechanisms are composed of two servo motors and gears, one servo motor is responsible for driving the wheel-legged mechanisms to move forward, and the other servo motor is responsible for adjusting driven axes of the wheel-legged mechanisms; each wheel-legged mechanism is composed of two semicircular legs, one rack and one direct current motor, and in an initial state, the two semicircular legs form a wheel in an integral circle shape. The platform has two modes, and in the wheeled condition, wheels are driven to move forward by means of the servo motors; in the legged condition, firstly, the driven axes of the wheel-legged mechanisms are adjusted by means of the servo motors, when the direct current motors are connected, the wheels are folded as the semicircular legs, and then the semicircular legs are driven to move forward by means of the servo motors. According to the novel wheel-legged obstacle negotiation platform, the structure is simple, the adaptability is high, and the advantages of the wheeled condition and the legged condition are fully combined.
Description
technical field [0001] The invention belongs to the application field of an obstacle-crossing mobile platform, and relates to a wheeled robot mechanism and a semicircular legged robot leg mechanism. Background technique [0002] At present, the main motion modes adopted by mobile robots are wheel drive and leg drive. Wheeled robots have the following advantages: wide application range, high reliability, high energy utilization rate, simple and easy control method, stable and fast walking, low manufacturing cost, and can successfully learn from the rich experience of current automotive technology; the disadvantage is that the wheeled structure It must face almost all points on the complex terrain, and the driving wheel has poor adaptability to the environment, so it is limited in many complex environments. The advantage of the legged robot is that it has strong terrain adaptability and can overcome obstacles or trenches; the disadvantage is that the efficiency is relatively ...
Claims
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CPCB62D57/028
Inventor 宁萌薛必伦周景文王垚李思奇张秋菊
Owner JIANGNAN UNIV