Wheel-leg mobile robot with telescopic chassis

Abstract

A wheel-leg mobile robot with a telescopic chassis comprises an upper chassis and a lower chassis which are connected through stepped bolts, and three foot-type legs and three wheel-type legs are connected to the outer sides of the upper chassis and the lower chassis at intervals; foot-type leg operation and wheel-type leg operation are selected according to the environment complexity degree, the lower chassis is stretched out and drawn back, when the operation road condition of the mobile robot is flat, the wheel-type legs are adopted for movement, power is provided through a hub motor, the hub motor is controlled to rotate through a third steering engine, and therefore steering of the robot is achieved. When the running road condition of the mobile robot is uneven, the foot-type legs are adopted to move, at the moment, the three wheel-type legs and the three foot-type legs are required to be kept at the same height, and the front legs and the rear legs of the two foot-type legs form a unit respectively to alternately move forwards or backwards; when turning is needed, the rotating angles of the two front legs are different, and turning of the robot is achieved; the wheel-leg mobile robot has extremely high environmental adaptability, ultrahigh maneuverability and stability.

Description

technical field [0001] The invention relates to the technical field of mobile robots, in particular to a wheel-leg mobile robot with a retractable chassis. Background technique [0002] Mobile robots are an important branch of modern robotics. At present, there are wheeled robots, legged robots, tracked robots and wheel-legged composite robots. Wheeled robots are fast and efficient, but limited by the terrain, it is difficult to adapt to the complex field environment with many ravines; legged robots have strong adaptability, but the mechanism is complex, and the speed is slow on flat ground, and the efficiency is low; When adapting to the same complex environment, the robot has a large size, is not flexible enough, and is difficult to adapt to some specific working environments; the wheel-leg composite robot has both mobility and environmental adaptability, and is more suitable for diverse natural environments. However, the current wheel-legged composite robot is still diff...

AI Technical Summary

Problems solved by technology

Wheeled robots are fast and efficient, but limited by the terrain, it is difficult to adapt to the complex field environment with many ravines; legged robots have strong adaptability, but the mechanism is complex, and the speed is slow on flat ground, and the efficiency is low; When adapting to the same complex environment, the robot has a large size, is not flexible enough, and is difficult to adapt to some specific working environments; the wheel-leg composite robot has both mobility and environmental adaptability, and is more suitable for diverse natural environments. However, the current wheel-legged composite robot is still difficult to overcome the shortcomings of weak environmental adaptability

[0003] Today, mobile robots play an important role in human society. On the battlefield, they can replace soldiers in battlefield investigation and rescue the wounded, reducing casualties and losses; in mines and earthquake sites, they can reach confined spaces that are difficult for rescuers to reach. Find the trapped injured in time, complete sign detection and rescue in time; and these environments are extremely complex, which requires mobile robots to have strong environmental adaptability, ultra-high mobility and stability, which cannot be met by existing mobile robots. above requirements

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