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Wheel-crawler-leg combined type mobile robot

A mobile robot and composite technology, applied in the field of mobile robots, can solve problems such as poor flexibility and stability, poor obstacle-surpassing ability, and low carrying capacity, and achieve the effect of simple structure, strong climbing, and strong carrying capacity

Inactive Publication Date: 2018-03-09
CHANGSHA ZHANSHUO XUANXING INFORMATION TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to solve the technical problems of the existing crawler robots in different degrees, such as complex structure, poor obstacle-surmounting ability, low carrying capacity, poor flexibility and stability, etc., the present invention proposes a wheel-track-leg composite mobile robot, which The basic structure is composed of two main crawlers, two fr

Method used

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  • Wheel-crawler-leg combined type mobile robot
  • Wheel-crawler-leg combined type mobile robot
  • Wheel-crawler-leg combined type mobile robot

Examples

Experimental program
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specific Embodiment approach

[0011] see Figure 1-Figure 5 , wheel-track-leg compound mobile robot, the basic structure is composed of two main crawlers 1, front swing arm crawler 3, rear swing arm crawler 4 and vehicle body 2; The ends are movably connected with the car body 2 and the main crawler 1 through the crawler shaft respectively to form a parallelogram transmission mechanism and placed on both sides of the car body 2; the crawler shaft of the rear swing arm crawler 4 is connected to the driving device in transmission; The rotation of the front and rear swing arm track frames is realized through power transmission.

[0012] The parallelogram transmission mechanism constitutes the wheeled movement mode of the robot by controlling the positions of the front and rear swing arm crawlers.

[0013] The parallelogram transmission mechanism constitutes the crawler movement mode of the robot by controlling the positions of the front and rear swing arm crawlers.

[0014] The parallelogram transmission me...

Embodiment

[0017] see Figure 1-Figure 2 , the wheel-track-leg compound mobile robot adopts six tracks arranged on both sides, the front swing arm track 3, the rear swing arm track 4 and the main track 1 and the two sides of the car body 2 are respectively combined into a parallelogram linkage mechanism. Two crawler drive motors 11 are placed at the rear end of the vehicle body 2 to drive the front swing arm crawler 3 , the rear swing arm crawler 4 and the main crawler 1 through gears 12 and track shaft transmission connection, and the two swing arm drive motors 9 and crawler drive motor 11 They are arranged staggeredly in the middle of the car body 2, and transmit the power to the front swing arm track frame 6 and the rear swing arm track frame 5 through the gear 10 and the synchronous belt 8 respectively to realize the rotation of the swing arm track, so that the main track frame 7 swings along with the front swing arm. The arm crawler frame 6 and the rear swing arm crawler frame 5 gen...

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Abstract

The invention provides a wheel-crawler-leg combined type mobile robot, which is designed aiming at solving the technical problems of complicated structure, poor obstacle climbing ability, low carryingcapacity, poorer flexibility and stability and the like existed in an existing crawlered robot to varying degrees. A basic structure of the wheel-crawler-leg combined type mobile robot is mainly formed by two main crawler belts, two front swing arm crawler belts, two rear swing arm crawler belts and a car body, wherein two ends of the front swing arm crawler belts and the rear swing arm crawler belts are movably connected with the car body and the main crawler belts through crawler belt shafts so as to form a parallelogram transmission mechanism, and are arranged on two sides of the car body;the crawler belt shafts of the rear swing arm crawler belts are in transmission connection with a drive device; the rotation of the front swing arm crawler belts and the rear swing arm crawler beltsis realized through power transmission. The wheel-crawler-leg combined type mobile robot has the beneficial effects that based on the parallelogram connecting rod mechanism, the main body of the robotis simple in structure and flexible to move. During a movement process, a wheel type movement mode, a crawler belt type movement mode and a leg type movement mode can be selected according to the characteristics of geographical environments. The wheel-crawler-leg combined type mobile robot has higher abilities on climbing, skipping over a ditch, clamping an obstacle and walking up and down stairs, and higher movement stability. The wheel-crawler-leg combined type mobile robot is high in carrying capacity and easy to control, and can be widely applied to complex terrains, counter-terrorism, explosion protection and space detection.

Description

technical field [0001] The invention relates to a mobile robot, in particular to a deformable wheel-track-leg compound mobile robot. It is mainly used in disaster relief, anti-terrorism EOD, military and similar applications. Background technique [0002] At present, typical crawler mobile robots can be divided into fixed crawler robots (single-section double crawlers) and deformable crawler robots. Transformable crawler robots can be divided into four-track double-swing-arm robots and six-track four-swing-arm robots according to the number of swing arms. URBOT, NUGV, and Talon robots in the United States are relatively typical single-section double-track robots. This type of single-section double-track mobile robot has a simple structure. Compared with other double-section or multi-section multi-track mobile robots, it is easier to control and more flexible. The performance is better, but its ability to overcome obstacles is poor. The biggest highlight of iRobot's Packbo...

Claims

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Application Information

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IPC IPC(8): B62D57/02B62D57/032
CPCB62D57/02B62D57/032
Inventor 不公告发明人
Owner CHANGSHA ZHANSHUO XUANXING INFORMATION TECH CO LTD
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