Reconfigurable type joint track composite mobile robot
A mobile robot and crawler composite technology, applied in the field of mobile robots, can solve the problems of low flexibility, poor terrain adaptability, and difficulty in meeting mobile requirements, and achieve the effect of flexible use
Pending Publication Date: 2019-03-26
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
View PDF6 Cites 4 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[0002]
Mobile robots often need to quickly enter and work in complex terrains, such as surveying the terrain and transmitting the environmental information of the survey site, and because the terrain of the mobile robot is very complex, there are artificially built steps, stairs, ditches and other terrains, there are The messy terrain formed after the disaster also has terrain with narrow environmental space, which requires the mobile chassis of the mobile robot to have the ability to overcome the above-mentioned complex terrain, but the mobile robot used for detection operations in the prior art has a single walking mechanism and poor terrain adaptability And the flexibility is low, it is difficult to meet the movement requirements of complex terrain such as narrow passages, ravines, and steps
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0033] The present invention will be described in further detail below in conjunction with the accompanying drawings.
[0034] Such as Figure 1~6 As shown, the present invention includes a main vehicle body 1, a yaw joint 2 and an auxiliary track module 3, such as Figure 2-4 As shown, both sides of the main car body 1 are provided with main crawlers 101, and the main crawler driving wheels 108 are provided with clutch brakes 1082 and first wheel joints 1083 fixedly connected together, and the main crawler driven wheels 105 are provided with The second wheel joint 1052, the main car body 1 is provided with a main track driving mechanism and a wheel joint driving mechanism, wherein the main track driving wheel 108 is driven to rotate by the main track driving mechanism and drives the main track 101 to move , the main track driving mechanism is connected with the clutch brake 1082, when the clutch brake 1082 brakes, the clutch brake 1082 and the first wheel joint 1083 rotate t...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention relates to the field of mobile robots, specifically to a reconfigurable type joint track composite mobile robot. The reconfigurable type joint track composite mobile robot comprises a main vehicle body, a yawing joint and a sub track module; a main track is arranged on the main vehicle body; a clutch brake and a first wheel joint are arranged in a main track driving wheel; a second wheel joint is arranged in a main track driven wheel; a main track driving mechanism and a wheel joint driving mechanism are arranged on the main vehicle body; the main track driving wheel is driven torotate by using the main track driving mechanism; and the main track driving mechanism is connected with the corresponding clutch brake; the second wheel joint is driven to rotate by using the wheeljoint driving mechanism; each wheel joint is correspondingly connected with the yawing joint; the yawing joint is rotationally connected with the sub track module; a yawing driving mechanism used fordriving the sub track module to swing is arranged in the yawing joint; and a sub track driving mechanism and a rotation driving mechanism used for driving the whole sub track module to rotate are arranged in the sub track module. The reconfigurable type joint track composite mobile robot can realize complicated and changeable running forms and is suitable for various complicated terrain environments.
Description
technical field [0001] The invention relates to the field of mobile robots, in particular to a reconfigurable joint crawler compound mobile robot. Background technique [0002] Mobile robots often need to quickly enter and work in complex terrains, such as surveying the terrain and transmitting the environmental information of the survey site, and because the terrain of the mobile robot is very complex, there are artificially built steps, stairs, ditches and other terrains, there are The messy terrain formed after the disaster also has terrain with narrow environmental space, which requires the mobile chassis of the mobile robot to have the ability to overcome the above-mentioned complex terrain, but the mobile robot used for detection operations in the prior art has a single walking mechanism and poor terrain adaptability Moreover, the flexibility is low, and it is difficult to meet the mobile requirements of complex terrain such as narrow passages, ravines, and steps. Co...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More IPC IPC(8): B62D55/065B62D55/08B62D55/12
CPCB62D55/065B62D55/08B62D55/12B62D55/075B62D55/125B62D55/24
Inventor 刘金国李兴丁健
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI