Wheel-leg combined type mobile robot platform

Abstract

The invention discloses a wheel-leg combined type mobile robot platform. The robot comprises a machine frame, a front wheel-leg system and a rear wheel-leg system, wherein the front wheel-leg system comprises a front shaft, three front wheel legs, a front motor, a rack and a front transmission system; the rear wheel-leg system consists of two subsystems of a leg swinging system and a driving system and is arranged on the back part of the machine frame; the leg swinging system comprises a shaft frame, a rear shaft, a matched shaft, two same shaft sleeves, four same rear wheel legs, two same first group rear motors and a rear transmission system; the driving system are divided into two parts which are symmetrical left and right and have the same structure, and the two parts are independently driven by two identical second group rear motors respectively; and each part comprises combined wheels, chains, belts, small belt wheels and small chain wheels. The robot platform adopts a wheel-leg combined type structure, so that the robot platform is simple in structure and can be easily controlled; the robot platform can move on the even terrain in a wheel mode, and the energy consumption is lowered; and the robot platform can move on the complex terrain in a wheel-leg combined mode, the efficiency is improved.

Description

technical field [0001] The invention relates to robot technology, in particular to a wheel-leg compound mobile robot platform. Background technique [0002] The advantage of the wheeled mobile robot platform is high speed and high efficiency, but the disadvantage is poor terrain adaptability. In order to adapt to the complex terrain environment, many robots now do not only use wheel-type mobile mechanisms, but more of them use compound mobile mechanisms such as wheel-track, wheel-leg or wheel-track-leg. The composite mobile robot platform adopts different travel strategies in different environments, which greatly improves the robot's forward speed and terrain adaptability, and has become a main direction for the development of outdoor robots today. The mobile robot platform is a basic platform on which other parts such as control system, detection system and manipulator can be mounted, and many functions that are difficult for ordinary robots can be realized. The robot pla...

AI Technical Summary

Problems solved by technology

[0004] Existing wheel-legged robots mainly contain the following types: 1. The six-wheel-legged mobile robot represented by the American Sojourner Mars Explorer, this type of robot can cross obstacles higher than its wheel diameter, but limited by its structure, the wheels are relatively small. It is small and cannot cross obstacles higher than the height of the chassis. In complex terrain environments, it must frequently raise its legs to cross obstacles. The driving efficiency is not high, and the ability to cross pits is not strong

2. Represented by the wheel-leg variable structure mobile robot designed by Tsinghua University, this type of robot can realize the compound movement of wheels, legs, and wheel-legs, and has a strong ability to overcome obstacles, but it requires at least eight motors and four million Steering wheels, high power consumption, and can only be made relatively small, poor load capacity and battery life

3. Represented by the triangular fork-type wheel-legged robot of Shanghai Jiaotong University, this type of machine has a strong ability to overcome obstacles and is easy to control, but it adopts the same travel method on flat terrain and complex terrain, which is inefficient and the chassis vibrates violently. Robotic platforms don’t last long

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