Less-drive multi-mode tensioning mobile robot

Abstract

The invention discloses a few-drive multi-mode tensioning mobile robot which comprises a rack, the rack comprises a left rigid rod system and a right rigid rod system which are correspondingly arranged on the left side and the right side and synchronously deform, and ratchet wheel attached feet walking along the contact face are arranged between the left rigid rod system and the right rigid rod system. A front driving device for adjusting the bottoms of the left rigid rod system and the right rigid rod system is arranged on one side of the rack, and a rear driving device for adjusting the tops of the left rigid rod system and the right rigid rod system is arranged on the other side of the rack. The invention discloses a less-drive multi-mode tensioning mobile robot which is characterized in that cable length adjustment control of an upper row of sliding cables and a lower row of sliding cables is realized through a front driving device and a rear driving device, a deformation foundation is provided through a left rigid rod system and a right rigid rod system, and rich deformation of the robot is realized through combination of the left rigid rod system and the right rigid rod system; and three movement modes of wriggling, inchworm movement and rolling are formed. The method is high in adaptability, easy to control and suitable for exploration of an unstructured field environment.

Description

technical field [0001] The invention belongs to the field of mobile robots, in particular to a tension mobile robot with less driving and multiple modes. Background technique [0002] Mobile robots can be used in unstructured environments such as post-disaster rescue, military reconnaissance, and energy exploration, assisting or replacing humans to perform tasks, and have received widespread attention from scholars at home and abroad. The unstructured environment puts forward higher requirements for the multi-terrain adaptability of mobile robots and the complexity of the control system. Compared with robots with a single movement mode, multi-mode mobile robots have stronger terrain adaptability, so the development of mobile robots with multiple movement modes and simple control systems has become a current research focus. [0003] Some achievements have been made in the research of multi-motion mode robots. Chinese patent CN112277551A discloses a variable structure multi-...

AI Technical Summary

Problems solved by technology

Chinese patent CN112277551A discloses a variable structure multi-mode mobile robot. Based on the variable structure, the patent enables the robot to realize four motion modes: flight mode, ground walking mode, ground rolling mode and combination of flying and crawling. The robot has 14 degrees of freedom and needs to be driven by 14 motors, which makes the robot's control system very complicated

[0004] Chinese patent CN103465988A discloses a multi-motion mode mobile machine. The patent combines a cross rod and a series of connecting rods to enable the robot to achieve multiple motion modes such as zooming, folding, rolling, and walking. It can be used in the military field to explore special terrains, but the robot’s The number of drive motors is 12, and the overall structure and control system of the robot are very complicated

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