Wheel leg type mobile robot with flexible trunk

Abstract

A wheel leg type mobile robot with a flexible trunk is composed of the robot trunk, a front wheel leg device and a rear wheel leg device. The robot trunk is formed by connecting two isomorphic joint modules. Each joint module is composed an outer U-shaped frame, an inner U-shaped frame, an overturning steering gear, rotating shafts, a steering gear output disc, a direct-current motor, a direct-current motor output gear, a rotating gear, a bearing and a rotating disc. The overturning steering gear is fixed in the outer U-shaped frame and drives the inner U-shaped frame to be overturned up and down, and the direct-current motor output gear is meshed with the rotating gear to drive the rotating disc. The front wheel leg device comprises a steering gear box, steering gears, steering gear output discs, universal wheels and legs. The rear wheel leg device and the front wheel leg device are basically identical and only different in leg orientations, four steering gears and the steering gear box are fixedly connected through screws, and the universal wheels and the legs are respectively fixedly connected with steering gear rotating shafts. The wheel leg type mobile robot with the flexible trunk is simple in structure, can continuously move when overturned, and has high environment adapting capability.

Description

Technical field [0001] The invention relates to a new type of wheel-legged mobile robot, specifically a wheel-legged mobile robot with a flexible trunk. Background technology [0002] Mobile robot is a multifunctional complex integrating environmental perception, dynamic decision-making and planning, behavior control and execution, etc., involving fields such as sensing technology, mechanical engineering, electronic engineering, computer engineering, automation control engineering, and artificial intelligence. According to the mode of travel, it is divided into three types: wheeled, footed and crawler. The crawler mobile robot has strong obstacle surmounting ability and terrain adaptability, and can adapt to soft terrain, such as sand, etc., and travels smoothly, but the speed is relatively low and the movement noise is loud; the wheeled mobile robot is fast and has low movement noise, but it is not suitable for Poor terrain adaptability and inability to effectively cross o...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the deficiencies of the prior art, the present invention proposes a wheel-leg mobile robot with a flexible torso. In order to overcome the disadvantages in the background art that the robot torso does not have flexibility, the wheel-leg conversion mechanism is complicated, and it cannot move when it overturns.

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