Double-triangular suspension frame wheel leg type all-terrain mobile robot

Abstract

The invention provides a double-triangular suspension frame wheel leg type all-terrain mobile robot. The robot includes a wheel leg robot body, a radar system arranged on the wheel leg robot body andfour wheel leg robot single legs symmetrically arranged at the front, rear, left and right portions of the wheel leg robot body, wherein each wheel leg robot single leg comprises an actuator, a triangular bracket connected with the actuator, a damping spring connected with the triangular bracket, a double-transverse-arm suspension frame connected with the damping spring, a steering motor connectedwith the double-transverse-arm suspension frame, a wheel leg body connected with the steering motor and a driving wheel which is connected with the wheel leg body and provided with a hub motor; the middle point of each triangular bracket is connected with the wheel leg robot body, and the two ends of each triangular bracket are connected with the corresponding actuator and the corresponding spring separately; each double-transverse-arm suspension frame includes an upper suspension frame control arm and a lower suspension frame control arm, one end of each upper suspension frame control arm and one end of each lower suspension frame control arm are hinged to the side surface of the wheel leg robot body, the other end of each upper suspension frame control arm and the other end of each lower suspension frame control arm are hinged to the corresponding steering motors, and the damping springs are connected with the upper suspension frame control arms. By adopting a four-wheel drive pattern, the robot can run within an angle of 360 degrees in different directions.

Description

technical field [0001] The invention relates to a wheel-legged robot, in particular to a double-triangular suspension wheel-legged all-terrain mobile robot with excellent obstacle surmounting, smooth running, and active / passive attitude adjustment functions. technical background [0002] With the continuous advancement of society and technology, robots have attracted more and more attention from humans. As one of them, wheel-legged robots have become more prominent in the fields of military reconnaissance, deep space exploration, disaster rescue, and field operations. Development The prospects are immeasurable. There are two main types of wheel-legged robots: wheeled wheel-legged robots and legged wheel-legged robots. Wheeled mobility is the most common type of mobility that reduces drag, but cannot cross obstacles higher than the diameter of the wheel. The wheel-legged robot that uses legs to move has a strong ability to overcome obstacles, but it consumes a lot of energy...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the above-mentioned technical problems to be solved, the present invention designs a wheel-legged all-terrain wheel-legged robot, which overcomes the limitations of the existing technology in the prior art, such as limited ability of wheeled movement to overcome obstacles, low efficiency of legged movement, and poor driving comfort. question

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