A four-wheeled robot with a deformable body

Abstract

The application belongs to the field of ground mobile robots, and in particular relates to a four-wheeled robot with a deformable body, comprising: a first wheel mechanism (A1), a second wheel mechanism (A2), a third wheel mechanism (A3), a fourth wheel mechanism A mechanism (A4), a first telescopic mechanism (B1), a second telescopic mechanism (B2), and a vehicle frame (C); the body of the four-wheeled robot provided by the present invention is driven and deformed by the coupling of two telescopic rods intersecting in the middle, which can realize Narrow terrain, unstructured terrain, high and low steps, slope adaptation and differential and angular steering functions, each of the four wheels is driven independently, and has a negative turning pair to adapt to the terrain, good terrain adaptability makes it applicable It has broad prospects in the fields of exploration and reconnaissance.

Description

technical field [0001] The application belongs to the field of ground mobile robots, and in particular relates to a four-wheeled robot with a deformable body. Background technique [0002] Wheeled ground mobile robots have been widely studied because of their fast speed and stable operation. The existing four-wheeled robots cannot be deformed or deformed in a single way, and are limited by the size of the body in an unstructured environment. For example, CN202110460060.1 discloses a wheeled robot, which adopts four independent steering wheels and each steering wheel is driven in an independent driving manner, so that the four-wheel steering robot can realize forward, backward, oblique driving and lateral driving. However, due to its structural characteristics, the body cannot be deformed, and the excessively large body size will affect its travel on narrow roads. [0003] For example, CN202010046152.0 discloses a four-wheeled robot with a scalable body, which can realize fo...

AI Technical Summary

Problems solved by technology

[0002] Wheeled ground mobile robots have been widely studied because of their fast speed and stable operation. The existing four-wheeled robot body cannot be deformed or the deformation method is relatively simple, and it will be limited by the size of the body in an unstructured environment.

For example, CN202110460060.1 discloses a wheeled robot, which adopts four independent steering wheels and each steering wheel is driven independently, so that the four-wheel steering robot can realize forward, backward, oblique driving, and lateral driving. , and in-situ steering and other movement modes, but due to its structural characteristics, the body cannot be deformed, and excessive body size will affect its driving on narrow roads

[0003] For example, CN202010046152.0 discloses a four-wheeled robot with a scalable body, which can realize folding and unfolding deformation with a single degree of freedom, and is convenient for storage and transportation when folded. , to meet different mobile needs, but because of its single body deformation mode, it cannot adapt well to unstructured terrain

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