Multi-adaptive wheel and foot switching movable platform

A mobile platform and adaptable technology, applied in the field of mobile platforms, can solve the problems of insufficient obstacle-surmounting ability, poor bearing capacity, poor stability, and slow foot-type structure of the wheeled structure, so as to achieve many innovation points in the overall structure design and ground adaptation. The effect of strong ability and strong obstacle crossing ability

Pending Publication Date: 2018-07-31
JILIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The invention provides a multi-adaptive wheel-foot switching mobile platform to solve the problem of insufficient obstacle-surmounting ability of the wheel structure of t

Method used

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  • Multi-adaptive wheel and foot switching movable platform
  • Multi-adaptive wheel and foot switching movable platform
  • Multi-adaptive wheel and foot switching movable platform

Examples

Experimental program
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Embodiment Construction

[0025] Such as figure 1 As shown, the frame body 1 and the shock absorbing device 2 are hingedly connected, the thigh leg structure 3 is connected to the shock absorbing device 2 through a rotating shaft, the calf leg structure 5 and the thigh leg structure 3 are connected through a shaft 501, and the wheel transmission mechanism 4 Connect to the thigh structure 3 through the main shaft 408 placed in the hole of the thigh piece 303;

[0026] Such as figure 2 As shown, the frame main body 1 includes a frame bottom plate 101, a fixing bracket 102, and a trapezoidal strengthening structure 103, wherein the fixing bracket 102 is fixed on the frame bottom plate 101 by screws, and the trapezoidal strengthening structure 103 is welded below the frame bottom plate 101.

[0027] Such as figure 2 As shown, the shock absorber 2 includes a shock absorber 201, a spring shock absorber 202, and the spring shock absorber 202 is connected with the shock absorber 201 and the frame bottom pl...

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PUM

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Abstract

The invention relates to a multi-adaptive wheel and foot switching movable platform and belongs to a combined type movement mechanism. A rack body and shock absorption devices are hinged, thigh structures are connected with the shock absorption devices through rotary shafts, shank structures are connected with the thigh structures through shafts, and wheel type transmission mechanisms are connected with the thigh structures through main shafts placed in thigh sheet holes. The platform has the following beneficial effects that the movable platform is high in carrying capacity and has various advancing treads, and multiple innovation points exist in whole structural design; a foot type structure of the movable platform is high in ground adaptability and obstacle crossing capacity; a wheel type structure of the movable platform is good in flexibility, high in speed and efficiency and capable of achieving ground obstacle avoidance; and two motion states are independent of each other and donot affect each other, wheels and feet can be switched according to the terrain environment, and motion is stable.

Description

technical field [0001] The invention relates to a compound mobile mechanism, in particular to a mobile platform which combines a foot type and a wheel type and can switch freely between the two. Background technique [0002] Mobile robots using a single movement mode are widely used, but the obstacle avoidance ability of the wheel structure and the movement performance on uneven road surfaces are not good; the movement speed of the foot structure is low, the work efficiency is not high, and the operation is not stable. Facing the complex terrain environment, these two leg structures have obvious disadvantages and cannot meet the needs of human production and life. Therefore, a composite mobile mechanism derived from the combination of two or more types of mechanisms came into being. The hybrid leg-wheel-track Azimuth robot developed by the University of Sherbrooke, Canada, and the six-wheeled legged mobile robot ATHLETE designed by the California Institute of Technology , t...

Claims

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Application Information

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IPC IPC(8): B62D57/028
CPCB62D57/028
Inventor 方宇明王鑫庞伟王子扬刘鹏飞
Owner JILIN UNIV
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