Autonomous obstacle crossing robot with reconfigurable wheel claws

Abstract

The invention provides an autonomous wheel claw reconfigurable obstacle crossing robot which comprises a robot body, an autonomous reconfigurable wheel claw wheel arranged on the robot body and an electronic device, and the electronic device is used for giving out a control signal and controlling the robot to move. The autonomous reconfigurable wheel claw wheel comprises a motor, a wheel shaft, a crank, an extension spring, an outer hub, an inner hub, a claw, a motor and a flat spiral spring, an output shaft of the motor is connected with one end of the wheel shaft, the outer hub and the inner hub are both arranged on the wheel shaft, the claw is arranged between the outer hub and the inner hub, the crank is fixed to the wheel shaft, and the extension spring is fixed to the outer hub. Two ends of the extension spring are respectively connected with the crank and the claw, one end of the flat spiral spring is fixed on the axle, and the other end of the flat spiral spring is fixed on the outside hub. According to the invention, wheel-to-claw and claw-to-wheel deformation can be carried out without additional driving.

Description

technical field [0001] The invention belongs to the obstacle-surmounting robot technology, in particular to an autonomous wheel-claw reconfigurable obstacle-surmounting robot. Background technique [0002] Compared with ordinary round wheels, claw-shaped wheels have a stronger ability to overcome obstacles. The current claw reconfigurable mechanism is mostly driven by the deformation mechanism and the wheel separately, which makes the wheel shaft structure complex. Moreover, the shape of the claw-mode obstacle-crossing robots at the current stage is mostly an incomplete arc, which will generate large shocks and vibrations during the forward process, which has a great impact on the connection of various components and the strength of key components. Contents of the invention [0003] The invention proposes an autonomous wheel claw reconfigurable obstacle-surmounting robot. [0004] The technical solution for realizing the present invention is: an autonomous reconfigurable ...

AI Technical Summary

Problems solved by technology

[0002] Compared with ordinary round wheels, claw-shaped wheels have a stronger ability to overcome obstacles. The current claw reconfigurable mechanism is mostly driven by the deformation mechanism and the wheel separately, which makes the structure of the wheel shaft system complicated.

Moreover, the shape of the claw-mode obstacle-crossing robots at the current stage is mostly an incomplete arc, which will generate large shocks and vibrations during the forward process, which has a great impact on the connection of various components and the strength of key components.

Images