Multi-wheeled all-terrain robot with diameter-variable special-shaped wheels

Abstract

The invention relates to the technical field of robot manufacturing, in particular to a multi-wheeled all-terrain robot with diameter-variable special-shaped wheels. The multi-wheeled all-terrain robot with the diameter-variable special-shaped wheels comprises a special-shaped wheeled robot with two diameter-variable wheels and a special-shaped wheeled robot with four diameter-variable wheels. Each of the two robots comprises diameter-variable special-shaped wheels, a motor, a gear box, a robot frame, a power supply and a control circuit. Each diameter-variable special-shaped wheel is providedwith a plurality of retractable and extendable L-shaped wheel feet, is controlled by a servo actuator to rotate an upper end cap, and is arranged to rotate around a plurality of circular supporting columns disposed in a lower end cap, and as the distance from the foot end of each L-shaped wheel foot to the wheel center of the diameter-variable special-shaped wheel is changed, the circumcircle diameter of each diameter-variable special-shaped wheel can be changed. The bottom of the frame of the special-shaped wheeled robot with two diameter-variable wheels is provided with an electric telescopic frame which can be unfolded forward or backward; in addition to providing universal wheel support, a weight fixed to a connecting rod can adjust the center of gravity to move backwards to ensure that the robot does not fall forward when crossing obstacles.

Description

technical field [0001] The invention relates to a multi-wheeled all-terrain robot with variable wheel diameter and special-shaped wheels, belonging to the technical field of robot production. Background technique [0002] Small electric wheeled robots have been widely used in many fields such as security, military, rescue, and scientific research due to their excellent obstacle-surmounting ability, low cost, and portability. Among them, the wheeled robot has a simple structure and stable operation, but its In the face of complex environmental terrain, such as steps, soil slopes, gravel, ruins and other harsh environments, it is difficult to perform. These special environments pose new challenges to mobile robots. How to improve the terrain adaptability of mobile robots and the passage of special obstacles? become hot. [0003] The "An all-terrain robot with special-shaped wheel structure" (application number: 201610066972.X) applied for in 2016 aimed at such problems by inv...

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the deficiencies in the prior art, the purpose of the present invention is to provide a multi-wheeled all-terrain robot with variable-diameter special-shaped wheels, including double-variable wheel-diameter special-shaped wheel robots and four variable-diameter special-shaped wheel robots , each variable-diameter special-shaped wheel is provided with a plurality of retractable and extendable L-shaped wheel feet, and the L-shaped wheel feet are controlled by the servo steering gear to drive the upper end cover to rotate, and surround a plurality of circles set in the lower end cover The rotation of the shaped pillar can dynamically change the distance from the foot end of each L-shaped wheel foot to the wheel center of the variable wheel diameter special-shaped wheel, and then change the circumscribed circle diameter of the variable wheel diameter special-shaped wheel; the present invention dynamically switches through the variable wheel diameter structure Under the two modes of contraction and extension of the L-shaped wheel feet, it is better to solve the problem that the existing wheeled or special-shaped wheeled robots cannot meet the needs of fast and stable movement on relatively flat and hard ground and the ability to walk through complex gravel ground.

Images