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Foldable and reconfigurable variable-wheel-track all-terrain trolley and control method of foldable and reconfigurable variable-wheel-track all-terrain trolley

An all-terrain, variable wheelbase technology, applied in the direction of motor vehicles, substructures, vehicle components, etc., to achieve a wide range of social application prospects, all-round mobility performance, and improve stability.

Active Publication Date: 2021-09-03
BEIJING JIAOTONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The problem to be solved by the present invention is to design a foldable and reconfigurable all-terrain vehicle with variable wheelbase and its control method to ensure the high-speed movement of the wheeled robot. At the same time, further improve the adaptability and maneuverability of the robot to complex terrain environments

Method used

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  • Foldable and reconfigurable variable-wheel-track all-terrain trolley and control method of foldable and reconfigurable variable-wheel-track all-terrain trolley
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  • Foldable and reconfigurable variable-wheel-track all-terrain trolley and control method of foldable and reconfigurable variable-wheel-track all-terrain trolley

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Embodiment Construction

[0035] The present invention will be further described in conjunction with the accompanying drawings.

[0036]The problem to be solved in the present invention is to design a foldable and reconfigurable all-terrain car with variable wheelbase and its control method, so as to ensure the high-speed movement ability of the wheeled robot and further improve the adaptability and maneuverability of the robot to the complex terrain environment .

[0037] The technical scheme that the present invention solves its technical problem adopts is:

[0038] A foldable and reconfigurable all-terrain car with variable wheelbase, such as figure 1 As shown, its overall structure consists of attitude adjustment assembly (1), driving wheel assembly (2), bottom support plate (3-1), top support plate (3-2) and first and second driven wheel assemblies (4- 1, 4-2) Composition;

[0039] Wherein, the attitude adjustment assembly (1) is fixed on the second main board (12-2) of the bottom support plate...

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Abstract

The invention relates to the field of wheeled robots, in particular to a foldable and reconfigurable variable-tread all-terrain trolley and a control method thereof. The overall structure of the foldable and reconfigurable variable-wheel-track all-terrain trolley is composed of a posture adjusting assembly, a driving wheel assembly, a bottom supporting plate, a top supporting plate, a first driven wheel assembly and a second driven wheel assembly. The control architecture is composed of an attitude sensing module, a steering control module, an included angle control module and a four-wheel speed cooperative control module. The trolley body is completely symmetrical about the neutral plane of the bottom supporting plate and the neutral plane of the top supporting plate, the wheel track and the shape of the trolley are continuously changed through a multi-time whole-circle rotation foldable mechanism, so that the trolley has the capacity of crossing different terrain obstacles. Meanwhile, due to the fact that the front and back faces and the front and back sides are not distinguished, all-directional maneuvering characteristics are achieved; and the stability of the wheel type trolley is further improved, so that the wheel type trolley has a wide social application prospect.

Description

technical field [0001] The invention relates to the field of wheeled robots, in particular to a foldable and reconfigurable all-terrain vehicle with variable wheelbase and a control method thereof. Background technique [0002] As a kind of mobile robot, wheeled robot has a faster moving speed than legged robot, but its adaptability to complex environments is poor, and it is often used to perform tasks such as material transportation, emergency rescue, and security patrols. Traditional wheeled trolleys have a fixed wheelbase and a fixed chassis, and have obvious physical front and back sides and front and rear sides. Therefore, when facing complex terrain, they do not have the ability to cross obstacles, recover from dumping, and be flexible and foldable. The above-mentioned ability is of great significance for adapting to the field environment with complex terrain and overcoming the harsh terrain without good road conditions. The purpose of the present invention is to prop...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D61/10B62D21/14B62D57/02
CPCB62D61/10B62D21/14B62D57/02
Inventor 陈光荣马铭武昱卢华风王向阳鲍俊宇杨新华曲福杰韦文哲郭盛
Owner BEIJING JIAOTONG UNIV
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