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Adaptive wheel leg and its robot and its motion method

A self-adaptive, robotic technology, applied in motor vehicles, transportation and packaging, amphibious vehicles, etc., can solve the problems of instability, cumbersome structure and control, low action efficiency, etc., to achieve simple control, strong adaptability and motion performance. Effect

Active Publication Date: 2021-12-21
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] At present, the mobile mechanism of the single-degree-of-freedom expandable wheel-leg robot is basically one-way expansion and movement; the multi-degree-of-freedom expandable wheel-leg mechanism structure and control are cumbersome, and the switching speed of the wheel-leg form is slow
Most of the mobile mechanisms of wheel-leg-paddle integrated amphibious robots are wheel-footed, simple in structure, and low in efficiency and unstable on land.

Method used

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  • Adaptive wheel leg and its robot and its motion method
  • Adaptive wheel leg and its robot and its motion method
  • Adaptive wheel leg and its robot and its motion method

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Embodiment Construction

[0051] Below in conjunction with accompanying drawing and specific embodiment the present invention is further described:

[0052] to combine Figure 1-17 , this embodiment is an adaptive amphibious robot with integrated wheels, legs and paddles and its movement method, including the first wheel A, the second wheel B, the third wheel C, the fourth wheel D, the control module storage box E, Bottom plate F, upper plate 1, rubber sealing ring 2, lower plate 3, step-down module 4, STM32 driver board 5, wireless serial port module 6, battery 7, shaft end cover 8, end cover set screw 9, outer wheel leg 10 , outer tire 11, outer wheel leg arc skeleton 12, outer wheel leg linear chute 13, blade 14, outer wheel leg central axis 15, outer flange bearing 16, outer wheel hub 17, outer wheel hub arc chute 18, inner wheel leg Flat washer 19, inner wheel leg silicone gasket 20, drive hub 21, outer drive shaft 22, inner drive shaft 23, inner hub 24, inner hub arc chute 25, inner tire 26, inn...

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Abstract

The invention relates to an adaptive wheel leg, a robot and its motion method, and belongs to the technical field of robot application. The self-adaptive wheel leg is installed on the main shaft of the wheel train (33), and is characterized in that it includes an outer wheel hub (17), a drive wheel hub (21) and an inner wheel hub (24) from outside to inside along the wheel train axis; the outer wheel hub ( 17), the inner wheel hub (24) is fixed by the wheel hub set screw (37); the outer wheel leg arc frame (12), the inner wheel leg arc frame (27) pass through the outer wheel hub (17) and the inner wheel hub (24) respectively Edge positioning holes are fixed on the outer side of the outer hub (17) and the inner side of the inner hub (24) respectively by flat washers and silicone washers; the driving hub is fixed on the main shaft of the wheel train to drive the wheels to rotate. The mobile obstacle-surpassing mechanism of the robot absorbs and integrates the advantages of wheels, legs, and paddles, and has the ability to overcome obstacles, adapt to complex land environments, and operate in water. The bidirectionally expandable and expandable wheel-legged moving mechanism makes the robot more flexible in motion performance.

Description

technical field [0001] The invention belongs to the technical field of robot application, and in particular relates to an adaptive wheel leg, a robot and its movement method, and is mainly used in the structural design of aquatic and terrestrial robots. Background technique [0002] Robots that adapt to various terrestrial environments and multi-habit activities are one of the key topics in the field of robot research today. It integrates technologies such as machinery, automation, computers, electronics, and artificial intelligence, and has become a measure of a country's technological level and comprehensive national strength. One of the important signs. [0003] The mobile mechanism of the robot is mainly divided into wheel type, leg type and crawler type mechanism. The wheeled mechanism has fast moving speed and high efficiency, but poor obstacle surmountability; the legged mechanism is flexible, but has low walking efficiency, unstable center of gravity, and complicate...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60F3/00B62D57/028
CPCB60F3/0007B62D57/028
Inventor 郭策何湘鹏俞志伟傅笛姬宇付佳辉
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS