Semi-wheel type robot

Abstract

The invention discloses a semi-wheel type robot. The semi-wheel type robot comprises a machine body, a control system and travel devices, wherein the control system is mounted in the machine body; the travel devices are symmetrically mounted on the side surfaces of the machine body; moreover, the control system comprises a central controller, a motor drive controller, a wireless communication unit, position detectors and a battery; the travel devices adopt semi-wheel type structures, and mainly comprise semi-wheels and motors, the semi-wheels are mounted on the output shafts of the motors via drive holes, and the motors are mounted on the machine body via motor fixing boards; the number of the position detectors is the same as that of the semi-wheels, and the position detectors are mounted between the semi-wheels and the motor fixing board. According to the invention, the foot adopts a semi-wheel structure, as a result, both the stability of system power consumption and high efficiency of the travel of the robot on a regular landform are considered; in addition, the capability for crossing a barrier on an irregular landform of the robot can be realized; the robot is high in landform adaptability, can travel under a complex environment, and has the movement efficiency of wheels on a regular landform.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a half-wheel-foot robot. Background technique [0002] With the continuous exploration of unknown fields, the environment of human work is becoming more and more unstructured; coupled with the frequent occurrence of natural disasters, forest fires, nuclear accidents, earthquake rescue and other events, human beings are eager to perceive these environments in order to collect Information, disaster relief, rescue of the wounded, etc. For this reason, obstacle-surmounting robot arises at the historic moment to help people solve this problem. [0003] At present, the kinematic mechanisms used by obstacle-crossing robots mainly include wheeled, crawler, hybrid, and footed structures. Among these kinematic mechanisms, wheeled kinematic mechanisms are most widely used. The wheel mechanism has the advantages of high efficiency, fast speed, and stable action, and has experien...

AI Technical Summary

Problems solved by technology

Due to the use of eccentric wheel structure, its walking power fluctuates greatly compared with wheeled robots, and the energy consumption is relatively large during walking, which also has a certain impact on the life of the power supply.

[0009] To sum up, the above-mentioned robots have their own advantages and disadvantages, but in practical applications, the existing obstacle-crossing robots have shortcomings such as low motion efficiency, high energy consumption, complex control, and unsatisfactory obstacle-crossing capabilities, which seriously limit the ability of robots to overcome obstacles. range of applications; robots using wheels have high efficiency of movement and simplicity of control, but they lack the ability to overcome obstacles

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