Guide-arm-type front-wheel joint mechanism of mobile robot

Abstract

The invention discloses a guide-arm-type front-wheel joint mechanism of a mobile robot which can travel on a complex road and has higher obstacle-surmounting capability. The guide-arm-type front-wheel joint mechanism comprises a first motor, a worm wheel, a worm, a rotating transformer, a torque sensor, a guide arm shaft, a first guide arm, a second guide arm, a second motor, a first gear, a second gear, a first hollow shaft, a second hollow shaft, a first driving wheel, a second driving wheel, a third motor, a third gear, a fourth gear, a first follow-up wheel and a second follow-up wheel. In the invention, the rotation of a guide-arm-type front wheel is realized by means of only one motor. By means of the self-locking performance of the guide-arm-type front-wheel joint mechanism, a higher obstacle-surmounting capability can be achieved due to fixed angle between a vehicle body and an obstacle when the mobile robot surmounts the obstacle. The rotating transformer can be used for measuring the absolute position of the movement of the guide arms and is more flexible to control. The torque sensor is used for judging whether the robot encounters an obstacle or not at present. The guide-arm-type front-wheel joint mechanism disclosed by the invention has the advantages of simple structure and reliability in work, and the guide-arm-type front wheel is beneficial to great increase of the obstacle-surmounting capability of the mobile robot.

Description

technical field [0001] The invention belongs to the field of ground mobile robots, and in particular relates to a guide arm type front wheel joint mechanism of a mobile robot capable of traveling on complex roads and having strong obstacle-surmounting capabilities. Background technique [0002] In recent years, ground mobile robots have been widely used in various fields such as detection, military affairs, risk elimination, and service. Most of the mobile platforms used by mobile robots are walking mechanisms, wheel mechanisms, and crawler mechanisms. The control of the walking mechanism is complicated and the energy consumption is high; the crawler mechanism can climb steep slopes and has good road adaptability, but the speed is limited and the energy consumption is high. The wheeled mechanism has low energy consumption and fast moving speed, but its obstacle surmounting performance is insufficient, so it is only suitable for driving on flat ground. The invention propos...

AI Technical Summary

Problems solved by technology

The walking mechanism is complex to control and consumes a lot of energy; the crawler mechanism can climb steep slopes and has good road adaptability, but the speed is limited and energy consumption is high

The wheeled mechanism has low energy consumption and fast moving speed, but its obstacle surmounting performance is insufficient, so it is only suitable for driving on flat ground

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