A semi-wheeled robot

Abstract

The invention discloses a half-wheeled robot, comprising a body, a control system installed inside the body, and a walking device symmetrically installed on the side of the body. The control system includes a central controller, a motor drive controller, a wireless communication unit, a position detector and a battery; the walking device is a half wheel foot structure, mainly composed of a half wheel foot and a motor, the half wheel foot is installed on the output shaft of the motor through the driving hole, and the motor is installed on the body through the motor fixing plate; The number of the position detectors is the same as that of the half wheel feet, and the position detectors are installed between the half wheel feet and the motor fixing plate. The invention adopts the half-wheel structure as the form of the foot, so that the robot can take into account the stability of power consumption in the regular terrain system and the high efficiency of walking, and at the same time can meet the obstacle crossing ability under the irregular terrain; the robot has strong terrain adaptability, It can walk in complex environments and has the motion efficiency of wheels under regular terrain.

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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