Variant structure leg wheeled exploration robot

A variable structure, robot technology, applied in the field of detection robots, can solve the problems of slow motion control and poor adaptability, and achieve the effects of increasing stability, fast traveling speed, and reducing volume

Inactive Publication Date: 2004-11-17
BEIHANG UNIV
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AI Technical Summary

Problems solved by technology

[0003] In order to overcome the disadvantages of poor adaptability to complex landforms of existing wheeled detection vehicles, slow movement speed and relatively complicated control of existing footed walking detection robots, the present invention provides a variable-structure leg-wheeled detection robot, the detection robot The structure can be changed according to the actual topography to adapt to complex special environments, combining the advantages of deformable body, foot-type walking mechanism, and wheel-type driving mechanism to achieve complementary advantages

Method used

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  • Variant structure leg wheeled exploration robot
  • Variant structure leg wheeled exploration robot
  • Variant structure leg wheeled exploration robot

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Embodiment Construction

[0051] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0052] figure 1Shown is an embodiment of the variable-structure leg-wheeled detection robot of the present invention. The detection robot includes a vehicle body and a traveling mechanism. Corresponding rods on two opposite sides are parallel to each other, and the rods are connected sequentially through hinges. Wherein the rod 7 and the corresponding rod 9 are equal in length. All the other 4 bars, namely bar 4, bar 5, bar 11 and bar 13 are equal in length. The angle values ​​at the joints are changed by driving the motors installed at the joints 3 and 12. The joints 3 and 12 are used as two fulcrums for the deformation of the parallelepiped structure. By changing the angles of the connection points of the bars, the structure of the vehicle body is controlled to make the vehicle body 2 wider or narrower. During the deformation of the body, the angl...

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Abstract

The invention is a kind of variable structure leg and wheel type detecting robot, which uses variable parallelepiped car body, uses electric engine to drive the car body to be widened or be narrowed; the invention uses running mechanism of leg and wheel transition, the four legs can extended fully, becomes foot walking detecting robot, the four legs can be folded according to a definitive method, it is deformed into wheel detecting car. The invention combines the deformation of the car, the change of car height and the inversion of the leg and wheel, it has several change modes. The invention combines deformable and height adjustable car, foot walking mechanism, wheel running mechanism.

Description

technical field [0001] The invention relates to a detection robot, in particular to a detection robot which can realize the function and structure change through the change of the degree of freedom (joint) of the mechanism as required. Background technique [0002] The probe vehicle must have good adaptability and passability to complex terrain, that is, a certain ability to overcome obstacles, avoid obstacles, climb obstacles, wear resistance and adapt to the environment, and also have stable high-speed driving. ability. The shape of the body of the probe car that has been developed in the world will not change according to the actual topography during the process of traveling. Therefore, under certain terrain conditions (such as narrow environments), the probe car cannot pass through, which reduces the impact on the vehicle. Adaptability to complex and special environments. The traveling mechanism of the probe car that has been developed mainly includes wheel type, foot ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00
Inventor 丁希仑田娜戴建生
Owner BEIHANG UNIV
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