An improved structure of walking system of walking compound mobile robot

Abstract

The invention relates to an improved structure of a step-and-track-composite-type movable robot travelling system. According to the improved structure of the step-and-track-composite-type movable robot travelling system, a balance rocker arm hanger bracket of which the two sides are symmetrical is configured on an H-shaped chassis, and a work platform is placed at three fixing points of the balance rocker arm hanger bracket; a driving steering assembly driven by a linear travelling driving motor (54) and a steering travelling driving motor (76) is configured on the balance rocker arm hanger bracket and located on an H-shaped chassis outer bridge shell cross rod, and four supporting legs of the balance rocker arm hanger bracket are configured with joint track assemblies capable of achievingposture adjustment. According to the improved structure of the step-and-track-composite-type movable robot travelling system, the adaptability to a complex annular road surface is very high, and theflexible posture regulation and stable posture keeping capacity is achieved; the attaching profile modeling capacity of uneven complex ground automatic adaption is achieved, and disturbance of the uneven road surface on a vehicle is reduced; the weight loading capacity of the movable work platform is improved, and the stairway-climbing and obstacle crossing capacity is achieved; and through the four-wheel-driving mode, the vehicle cross-country capacity is improved, spot turn can be achieved, and the maneuverability is high.

Description

technical field [0001] The invention relates to an improved structure of a walking system of a walking robot, in particular to an improved structure of a walking system of a walking compound mobile robot. Background technique [0002] Mobile robot is a hot spot in the field of robotics, and it has developed rapidly in recent years. It is not only widely used in industry, agriculture, medical treatment, service and other industries, but also in harmful and dangerous occasions such as urban security, anti-terrorism, national defense and space detection. The environment that mobile robots face is complex, unknown and changeable. At present, this type of robot mainly has three kinds of mobile mechanisms: wheel type, leg type and crawler type. These three institutions have their own advantages and disadvantages. The wheel type is fast, but has poor terrain adaptability; the leg type is flexible and maneuverable, but slow and difficult to control; the crawler type has strong ob...

AI Technical Summary

Problems solved by technology

However, the technical structure is relatively complicated, and it cannot be used on a chassis with a balanced rocker structure, and it does not have a good shock absorption effect.

[0006] In addition, the traditional single-power steering mechanism of tracked vehicles has many obvious shortcomings: the vehicle has only a few fixed turning radii, and when turning according to non-specified turning radii, it must be realized by the sliding of friction elements, and it is difficult to obtain a stable and accurate turning radius. , and severe sliding and grinding will bring heat and wear, reduce the transmission efficiency, and make the steering unstable and unreliable. Especially in the high-power steering working state, there will be a large power loss, which often requires slowing down the steering. Urgent need for change

[0007] Moreover, the uneven road surface will affect the grounding performance of the track assembly. At the same time, obstacles on the ground will also generate a certain impact load on the tracked robot mobile platform, which will affect the normal operation of the mobile robot mobile platform.

The traditional articulated track is rigidly connected and cannot absorb the impact load generated by ground obstacles

And when the rigidly connected articulated track meets the uneven road surface, the ability to imitate the terrain is poor

Rigid articulated tracks may hang in the air when passing through high bumps on the ground

Images