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Deformable all-terrain adaptable robot walking mechanism

A walking mechanism and robot technology, applied in the field of robotics, can solve problems such as long production cycle, track jamming, loss of hub or track, etc., and achieve high transmission efficiency, flexible movement, and fast speed

Inactive Publication Date: 2010-11-24
上海中为智能机器人有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] (2) The crawler track is easy to enter small objects such as branches, sand and gravel during driving on grassland and sandy ground, which may easily cause the track to be stuck, make it difficult for the robot to move, and wear the wheel hub or track
[0007] (3) The crawler is expensive and the production cycle is long
[0008] (4) It is difficult to quickly replace the track after it is damaged

Method used

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  • Deformable all-terrain adaptable robot walking mechanism
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Examples

Experimental program
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Embodiment Construction

[0041] According to attached figure 1 , a robot walking mechanism deformable to adapt to all terrains, mainly composed of a frame 10, a wheel mechanism 20, an overturning arm mechanism 30 and the like.

[0042] According to attached figure 2 , The frame 10 is mainly composed of a casing 11 , a power supply system 12 , and a case cover 13 .

[0043] The wheel mechanism 20 is divided into left and right parts, and the right wheel part is completely symmetrical with the left wheel part. According to attached image 3 , take the left wheel part as example, the left wheel part is mainly made up of driving wheel 22 (left front wheel), driven wheel 26 (left rear wheel) and driving and transmission mechanism.

[0044] The driving and transmission mechanism mainly includes the left front shaft assembly 21 (including output bevel gear, input synchronous pulley, front shaft, sealing ring, bearing gasket, etc.), motor assembly 23 (including driving motor, motor reducer, motor encoder,...

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PUM

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Abstract

The invention discloses a deformable all-terrain adaptable robot walking mechanism, which comprises a framework, a wheeled mechanism and an overturn arm mechanism. The wheeled mechanism is a four-wheel mechanism which is driven by a driving wheel; a driven wheel is driven by a synchronous belt; the wheeled mechanism on the left side and the right side is driven by a motor respectively; and the synchronous belt for connecting the driving wheel and the driven wheel is packaged in a cavity of a robot. An assisting walking mechanism is the overturn arm mechanism which consists of quick-connection components, a rocker arm shell and an overturn arm wheel, wherein the quick-connection components are arranged on two sides of the wheeled mechanism and ensure that overturn arms can be quickly mounted on a chassis of the robot or dismounted quickly. The robot walks by mainly depending on the four-wheel mechanism, the overturn arm mechanism plays a role in assisting motion and deforming the mechanisms, and the morphological changeability of the mechanisms ensures that the deformable all-terrain adaptable robot walking mechanism has the shapes of four wheels, similar caterpillar bands, expanded six wheels and the like. The deformable all-terrain adaptable robot walking mechanism integrates the advantages of a wheeled robot and a caterpillar band type robot, such as light weight, flexible motion, high speed, high transmission efficiency, all-terrain adaptability and the like.

Description

technical field [0001] The invention relates to a walking mechanism of a robot, in particular discloses a walking mechanism of a robot that is deformable and adaptable to all terrains, and belongs to the technical field of robots. Background technique [0002] A mobile robot is a robot that can move autonomously or semi-autonomously. The walking methods of mobile robots used on land mainly include wheeled, crawler, and footed. [0003] The advantages of wheeled robots are high-speed mobility and high operating efficiency. The problem is that it is difficult to cross larger obstacles, such as thresholds, stairs, etc., and it is not suitable for driving on complex roads, such as muddy, gravel, etc. Therefore, Traditional wheeled robots are difficult to achieve all-terrain walking. Some improved wheeled mechanisms can partially improve the obstacle-surmounting ability of the robot: CN2717789 proposes a robot platform with four-wheel drive, and the front and rear wheels are con...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D55/065B62D55/075B25J5/00
Inventor 蒋金鹏王辉卢秋红周勇付西光
Owner 上海中为智能机器人有限公司
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