Foot/wheel/track mixing four-wheel drive vehicle with dry adhesion and claws and moving method thereof

A technology of dry adhesion and four-wheel drive, which is applied in the field of robotics, can solve the problems of limited robot functions and no research has been carried out, and achieve the effect of clear movement principle, small size and convenient movement

Active Publication Date: 2018-01-23
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Robots with single wheel feet, foot hooks, and adhesive tracks have limited functions, and similar locomotion modes to foot / wheel / track hybrid 4WD vehicles with dry adhesion and hook claws have not been reported and have not been studied.

Method used

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  • Foot/wheel/track mixing four-wheel drive vehicle with dry adhesion and claws and moving method thereof
  • Foot/wheel/track mixing four-wheel drive vehicle with dry adhesion and claws and moving method thereof
  • Foot/wheel/track mixing four-wheel drive vehicle with dry adhesion and claws and moving method thereof

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Embodiment Construction

[0020] Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

[0021] combine figure 1 , figure 2 with image 3 , this embodiment is a foot / wheel / track hybrid four-wheel drive vehicle with dry adhesion and claws and its movement method, including a body 1, a body control box 2, a steering gear b1, a steering gear fixing groove c1, and a wheel foot a1 , Damping shock absorbing telescopic sleeve d11, damping shock absorbing telescopic rod d12, fixed cap d13, dry adhesive material sheet e1, shock absorbing spring f1, fixed hook g1, positive n-gon support ring h, support hole h1, positive n Edge elastic track i, positioning hole i1.

[0022] Which combines figure 1 , figure 2 , this embodiment is a foot / wheel / track hybrid four-wheel drive vehicle with dry adhesion and claws and its movement method, including a body 1, a control box 2, and four wheel-foot power mechanisms distributed symmetrically along t...

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Abstract

The invention relates to a foot/wheel/track mixing four-wheel drive vehicle with dry adhesion and claws and a moving method thereof and belongs to the technical application field of robots. Each wheelfoot of the vehicle comprises an n-regular-polygon supporting ring (h) and an n-regular-polygon elastic track (i), and a damping shock absorption telescopic rod adhesion component is arranged betweeneach n-regular-polygon supporting ring (h) and the corresponding n-regular-polygon elastic track (i). When the vehicle encounters an obstacle, fixing caps (d13) are stressed to push damping shock absorption telescopic rods to extrude springs and air so that the springs and the air can be inward compressed, and accordingly the vehicle passes through the bumpy ground successfully; through dry adhesion material sheets (e1), the vehicle passes through the smooth slope with large gradient and small friction coefficient; through the fixed claws (g1), the vehicle can move up and down the stairs relatively easily and move on the bumpy ground with large gradient. The foot/wheel/track mixing four-wheel drive vehicle can achieve multiple kinds of complex moving functions and have good all-terrain adaptability and obstacle crossing characteristics.

Description

technical field [0001] The invention belongs to the application field of robot technology, and in particular relates to a foot / wheel / track hybrid four-wheel drive vehicle with dry adhesion and claws and its movement method, which is mainly used as an all-terrain off-road mobile platform in a natural environment. Background technique [0002] Robots that adapt to various ground environments are one of the most cutting-edge topics in the field of robotics research today. It integrates many disciplines such as machinery, electronics, computers, materials, sensors, control technology and artificial intelligence, reflecting the intelligence of a country. It is also an important symbol of a country's high-tech strength, and various developed countries have invested heavily in research in this field. [0003] The footed robot can climb slopes on complex ground, and can adjust the combination of front and rear end high and low body movements to meet the requirements of mountainous e...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/02
Inventor 俞志伟范雅婕陶洁莲谢家兴石叶刘程翔罗奥戴振东
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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