Multiple obstacle environment-adaptive combined mechanism robot device

Abstract

The invention discloses a combined mechanism robot device adaptive to various obstruction environments, for solving various problems of the existing wheel or track robots in application. The invention has the basic functions of an ordinary obstruction crossing robot, synthetically applies the wheel and track driving forms and makes the robot able to be adaptive to various different road conditions by structure deformation, such as flat road surface, bumpy road surface, muddy road surface, and loose road surface, as well as road surface with a certain slope, and the invention fully uses the advantage of the wheel mechanism being able to rapidly run on the flat road surface condition and fully uses the advantage that the unit-area bearing force of the track is small and the road surface adhesion is large on other road surface conditions. The robot of the invention has reinforced special functions: in the course of running on the road surfaces, if meeting with obstructions: 1. if the obstruction is a ravine, the width of the ravine is less than 1 / 2 track length plus arm length; 2. if the obstruction is a bump, the height of the bump is lower than wheel diameter plus arm length, by continuous combined structure deformation, regulating the contact length, gravity center and pose of the robot and the ground, making the robot able to reliably cross the obstruction and not causing the robot to be blocked or immersed.

Description

technical field

[0001] The invention is a robot device which adopts composite mechanism and has structural deformation capability. Place the robot in various structured or wild non-deterministic environments, be able to move normally, overcome raised obstacles, and pass through ravines of a certain width. Background technique

[0002] There are various problems in the application of existing wheeled or tracked robots. For example, although a wheeled robot can move quickly in the environment, it cannot adapt to rough, muddy and soft roads; while a crawler robot, although it overcomes the difficulties encountered by wheeled robots when driving on muddy and soft roads. Falling into other problems, but there are problems such as slow driving speed and easy wear and tear.

[0003] The significance of this robot device is that it has the basic functions of a common obstacle-crossing robot, and comprehensively uses two types of motion drive forms of wheel and crawler, and through...

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