Four-wheeled robot for reconnaissance and rescue

Abstract

The invention provides a wheel-legged quadruped robot for investigation and rescue. The robot comprises deformation wheels, a support outer shell, wheel-legged motion branched chains, a frame main body, sensors, auxiliary wheels, a motor and a self-adaptive fire extinguishing mechanism; the support outer shell is arranged at the upper part of the frame main body and is fixedly connected to the frame main body; the deformation wheels and the wheel-legged motion branched chains are separately arranged at both sides of the frame main body, the deformation wheels are symmetrically distributed relative to the frame main body and the wheel-legged motion branched chains are symmetrically distributed relative to the frame main body; a first end of each wheel-legged motion branched chain is connected to the frame main body, and a second end of each wheel-legged motion branched chain is connected to the corresponding auxiliary wheel; the sensors are distributed at the front end and the rear endof the frame main body; the motor is arranged at the upper part of the front end of the frame main body and is fixedly connected to an output shaft; the self-adaptive fire extinguishing mechanism is arranged at the upper part of the support outer shell; and each wheel-legged motion branched chain comprises a first leg steering engine, a thigh, a second leg steering engine, an upper leg, a lower leg and a third leg steering engine. According to the wheel-legged quadruped robot for investigation and rescue, by arranging the wheel-legged motion branched chains, the problems of adaptability and walking speed of a walking robot are solved, and meanwhile, the function of stabilizing a vehicle body is achieved.

Description

technical field [0001] The invention relates to the field of robots, in particular to a four-wheel-footed detection and rescue robot. Background technique [0002] The walking mechanism of existing robot mainly contains wheel type, crawler type and foot type. Wheeled robots are suitable for flat roads and can move at high speed, but they are unstable and prone to slipping, and they are helpless in the face of complex terrain. Tracked robots can better adapt to soft terrain, such as sand and mud, and the track has a large contact area with the ground, and it is not easy to slip and run relatively smoothly. However, its traveling speed is slower than that of wheeled robots, and it is powerless to face terrain with large drops. . Footed robots can almost adapt to various complex terrains and can climb over various obstacles, but their travel speed is very low, and due to the foot support, the high center of gravity of the footed robot is unstable and easy to roll over. Howev...

AI Technical Summary

Problems solved by technology

[0003] Aiming at the above problems to be solved by the walking mechanism of the robot, the present invention provides a four-wheel-footed obstacle-climbing robot, mainly to solve the poor ability of the walking mechanism to adapt to different terrains, the low speed of the existing walking mechanism, instability and easy slipping or rollover And other issues

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