Tetrahedron wheel type robot

Abstract

The invention belongs to the field of ground mobile robots, and particularly relates to a tetrahedron wheel type robot, which comprises a first vertex assembly, a second vertex assembly, a third vertex assembly, a fourth vertex assembly, a first branch chain, a second branch chain, a third branch chain, a fourth branch chain, a fifth branch chain and a sixth branch chain, wherein the four vertex assemblies are the same in structure and size, the structures and the sizes of the six branch chains are the same, vertex supporting discs on a first vertex, a second vertex, a third vertex and a fourth vertex are connected with any end of the first branch chain, the third branch chain and the sixth branch chain, any end of the fourth branch chain, the fifth branch chain and the sixth branch chain,any end of the second branch chain, the third branch chain and the fourth branch chain, and any end of the first branch chain, the second branch chain and the fifth branch chain in a revolute pair connection manner through rotating shafts, and the connected robot is in a regular tetrahedron shape. According to the invention, the robot is controlled and driven to change two moving modes of wheel type rolling and polyhedron type rolling to achieve the functions of straight moving, turning and obstacle crossing of the robot, so that the defect that the existing wheel can only move on a flat hardroad is overcome, the impact between the mechanism and the ground is reduced through the design, and the mechanism is simple in structure, easy to manufacture and implement in engineering and capableof being used for manufacturing reconnaissance robots.

Description

technical field [0001] The application belongs to the field of ground mobile robots, and in particular relates to a tetrahedron wheeled robot. Background technique [0002] Existing tetrahedral robots can achieve the purpose of moving and turning through deformation. Chinese patent CN201810286062.1 proposes a tetrahedral mobile robot, which makes the branch chain turn inward or outward by controlling the forward and reverse rotation of the steering gear, so that the tetrahedron is deformed to achieve the purpose of movement and steering. However, due to its structural characteristics, the moving speed is slow, the rotation angle is relatively fixed, and because its branch chains are composed of straight rods, the contact impact with the ground during the movement is large, and the damage to the body is obvious. Contents of the invention [0003] In order to solve the above problems, the present invention provides a tetrahedron wheeled robot. Based on the tetrahedron struc...

AI Technical Summary

Problems solved by technology

However, due to its structural characteristics, the moving speed is slow, the rotation angle is relatively fixed, and because its branch chain is composed of a straight rod, the contact impact with the ground during the movement is large, and the damage to the body is obvious.

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