Novel deformable robot

Abstract

The invention discloses a novel deformable robot. The novel deformable robot comprises a chassis and a plurality of deformable wheel leg parts arranged on the chassis. Each deformable wheel leg part comprises a deformation wheel mechanism and a deformation control mechanism; the deformation wheel mechanism comprises an outer spoke, an inner spoke, three wheel components and three connecting components, wherein the three wheel components are evenly distributed around the outer spoke and the inner spoke, and the three connecting components are sequentially hinged between the adjacent wheel components; the deformation control mechanism comprises a driving motor, a transmission shaft, a synchronous clutch and a deformation clutch; the transmission shaft is connected between an output shaft ofthe driving motor and the outer spoke; the synchronous clutch is used for making the output shaft of the driving motor be connected with or separated from the inner spoke; and the deformation clutch is used for making the inner spoke be connected with or separated from a robot rack. The deformable wheel legs of the robot can deform actively, a deformable wheel structure in any deformation state can be kept, and obstacle crossing efficiency of the mobile robot and adaptability to unstructured terrains are improved.

Description

Technical field [0001] The invention relates to the field of mobile robot structure design, in particular to a new type of deformable robot. Background technique [0002] The deformation wheels used by current mobile robots mostly realize the deformation of the wheels through a fixed mechanical structure. Therefore, it is difficult to maintain the non-predetermined deformation state during the deformation process, and basically can only achieve the round wheel state and the full leg state. Switching, and the deformation time and degree are fixed, which limits the response speed of mobile robots with deformation wheels when crossing obstacles, and has weak adaptability to unstructured environments. The invention patent with publication number CN105774394A discloses a mobile robot with deformable wheels, which can adapt to different terrains and has strong obstacle crossing ability. The structure of the deforming driving mechanism of the deforming wheels of this invention is more c...

AI Technical Summary

Problems solved by technology

[0002] Most of the deformation wheels used by current mobile robots realize the deformation of the wheel through a fixed mechanical structure. Therefore, it is difficult to maintain the non-preset deformation state during the deformation process, and basically only realize the round wheel state and the full leg state. Switching, and the deformation time and degree are fixed, which limits the response speed of mobile robots with deformation wheels when they cross obstacles, and their adaptability to unstructured environments is weak

The invention patent with the publication number CN105774394A discloses a mobile robot with deformable wheels, which can adapt to different terrains and has a strong ability to overcome obstacles. body weight and system complexity, in addition, the robot can only realize two-stage switching between the wheel shape and the leg shape, and its overall shape is not easy to maintain in the leg shape mode, and the overall body length of the robot is fixed. Affects the ability of robots to adapt in unstructured environments

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