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Variable-structure leg wheel type machine insect

A technology of variable structure and robotic insects, which is applied in the field of detection robots, can solve the problems of slow movement of detection robots, poor adaptability to complex landforms, and reduced adaptability to complex environments, so as to increase stability, facilitate transportation and storage, and facilitate transportation and stored effects

Inactive Publication Date: 2007-03-21
BEIHANG UNIV
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Problems solved by technology

[0003] The specific technical problem to be solved by the present invention is aimed at the prior art. During the operation of the probe car, the adaptability to the complex environment is reduced due to the unchanged body structure. In order to overcome the complex environment of the existing wheeled probe car Poor adaptability to landforms, slow movement speed and complicated control of the existing legged walking detection robots need to be redesigned

Method used

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  • Variable-structure leg wheel type machine insect
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  • Variable-structure leg wheel type machine insect

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Embodiment Construction

[0032] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0033] With reference to Fig. 1A, shown in 1B, it is an embodiment of the variable-structure leg-wheeled detecting robot of the present invention, and this robotic worm includes vehicle body and driving mechanism, and in this embodiment, the vehicle body is a docking congruence with a deformable bottom edge parallel Triangular structure, composed of left and right car bodies and four rods, in which rod 3 and rod 4 form a cross structure, and the middle is connected by a hinge; rod 5 and rod 6 (auxiliary support, increasing the rigidity and strength of the car body) and left and right The car body is sequentially connected by hinges to realize flexible connection. Wherein the rod 3 is equal to the length of the rod 4, and the length of the rod 5 is equal to that of the rod 6. The motor installed at the joint 9 is driven to change the angle value at the ...

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Abstract

The variable structure leg wheel type machine insect belongs to the field of detecting robot technology. The variable structure leg wheel type machine insect has one body in deformable cross link rod structure capable of changing in body width under the driving of motor; and one leg-wheel changing running mechanism with four foldable legs and capacity of changing into walking detection robot or wheel type detection vehicle. The present invention has adjustable height, foot type walking mechanism and wheel running mechanism, so that it has excellent adaptability.

Description

technical field [0001] The invention belongs to the field of detection robots, and relates to a detection robot, in particular to a variable-structure leg-wheeled robot insect robot that can realize structural and functional changes through changes in mechanism degrees of freedom (joints) as required. Background technique [0002] With the continuous expansion of the detection field, high-performance detection vehicles are required to meet the needs of complex detection environments. The rover must have good adaptability to complex terrain, as well as stable and high-speed driving capabilities. Now the probe cars that have been developed in the world, the shape of the car body will not change the car body structure and driving form according to the actual topography during the process of traveling. Therefore, under certain topographical conditions (such as narrow environments), the detection Cars just cannot pass through, thereby reducing the adaptability to complex special...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032A63H11/20
Inventor 丁希仑徐坤孙增圻戴建生
Owner BEIHANG UNIV
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