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Wheel, leg, bounce mechanism combined mobile robot

A mobile robot and compound technology, applied in the field of robots, can solve the problems of poor obstacle surmounting ability, complex mechanism and control, and high energy consumption, achieve high environmental adaptability and obstacle surmounting ability, increase obstacle surmounting ability, and increase vision. Effect

Inactive Publication Date: 2007-07-11
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, in the motion mechanism of mobile robots, wheeled, crawler and legged mechanisms are generally used. Wheeled robots have the advantages of simple structure, high speed and low energy consumption, but they are not suitable for crossing such as ravines, steps, stairs, etc. Obstacles, poor ability to overcome obstacles; crawler robots have high traversing ability and good environmental adaptability in natural environments such as soft and uneven terrain, but have the disadvantages of large frictional resistance and high energy consumption; legged robots It has high maneuverability and is easy to adapt to various complex ground environments, but the mechanism and control are more complicated

Method used

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  • Wheel, leg, bounce mechanism combined mobile robot
  • Wheel, leg, bounce mechanism combined mobile robot
  • Wheel, leg, bounce mechanism combined mobile robot

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Embodiment Construction

[0020] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0021] As shown in Fig. 1~Fig. 6, the present invention has adopted the main body to be four-wheel vehicle body, the structural form of compound front and rear two swing wheel legs and bouncing mechanism. 4 drive wheels 3 are installed on the robot car body 1, two rear wheels 3.1,3.2 are driven by wheel drive motors 13.2,13.1 respectively, and two front wheels 3.3,3.4 are also driven by wheel drive motors 13.1, 14.2 by synchronous belt 14.1,14.2 respectively. 13.2 Drivers. A front swing wheel leg 8 is installed in the front of the car body 1, which is driven by a front swing wheel leg drive motor 15, and a rear swing wheel leg 2 is installed at the rear, which is driven by a rear swing wheel leg drive motor 11. The installed shaft rotates freely, and the ends are equipped with wheels 5 and 10. The bottom and top of the car body 1 are provided with groo...

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Abstract

The invention relates to a wheel leg bounce movable robot, wherein it uses four-wheel body, with front and back swinging wheel legs and bounce structure. The invention combines wheel structure and leg structure, to change motion mode via different conditions. Via the back swinging wheel leg, when the robot is turnover, it can return by itself. The bottom bounce structure can fly over the obstacle; the table with CCD camera is mounted in the detecting table which can lift, to expand the view sight.

Description

technical field [0001] The invention relates to robot technology, in particular to a wheel-leg bouncing composite mobile robot. Background technique [0002] Mobile robots have been used in home services, entertainment, scientific investigations, interstellar exploration, military weapons, anti-terrorism, It has broad application prospects in dangerous and harsh environments such as public safety. [0003] At present, in the motion mechanism of mobile robots, wheeled, crawler and legged mechanisms are generally used. Wheeled robots have the advantages of simple structure, high speed and low energy consumption, but they are not suitable for crossing such as ravines, steps, stairs, etc. Obstacles, poor ability to overcome obstacles; tracked robots have high traversing ability and good environmental adaptability in natural environments such as soft and uneven terrain, but have the disadvantages of large frictional resistance and high energy consumption; legged robots It has h...

Claims

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Application Information

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IPC IPC(8): B62D57/00A63H11/00
Inventor 王宣银程佳富晓杰
Owner ZHEJIANG UNIV
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