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Wheel-foot conversion type mobile robot system

A mobile robot and conversion technology, applied in the field of mobile robots, can solve problems such as slow walking speed and poor obstacle avoidance ability, and achieve the effects of reduced power consumption, reduced processing and assembly costs, strong terrain adaptability and stability

Active Publication Date: 2015-07-15
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problems of poor obstacle avoidance ability of existing wheeled robots and slow walking speed of existing footed robots, the present invention further provides a wheel-foot conversion mobile robot system

Method used

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  • Wheel-foot conversion type mobile robot system
  • Wheel-foot conversion type mobile robot system
  • Wheel-foot conversion type mobile robot system

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Experimental program
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specific Embodiment approach 1

[0017] Specific implementation mode one: as Figure 1~6 As shown, the wheel-foot conversion mobile robot system of this embodiment includes a robot frame E and four wheel-foot conversion mechanisms, and four wheel-foot conversion mechanisms are installed in a matrix on the robot frame, and each wheel-foot conversion mechanism includes a wheel-foot conversion body A. Lifting mechanism B, rotating mechanism C and switching mechanism D;

[0018] The wheel-foot conversion mobile robot system includes a wheel-foot conversion body A, a lifting mechanism B, a rotating mechanism C and a switching mechanism D;

[0019] The wheel-foot conversion body A includes a fixed half-wheel 1, a movable half-wheel 2, a single banner 3, a central shaft 4, a first limit block 5 and a spring 6, and the central shaft 4 is installed at the center of the fixed half-wheel 1 through a first bearing , one end of the central shaft 4 is fixedly connected and axially locked by the first limit block 5, the ot...

specific Embodiment approach 2

[0023] Specific implementation mode two: as image 3 As shown, two fixed banners 1-1 are arranged on the fixed half-wheel 1 in this embodiment, and the two fixed banners 1-1 are arranged at right angles. Such setting ensures the rigidity of the fixed half-wheel 1, and no serious deformation will occur under the condition of radial force. Designing the fixed banner 1-1 and the fixed half-wheel 1 as two parts also reduces the processing cost. difficulty and cost. Other components and connections are the same as those in the first embodiment.

specific Embodiment approach 3

[0024] Specific implementation mode three: as image 3As shown, the wheel-foot conversion body No. A of this embodiment includes a stopper 6 and a movable banner 8. The stopper 6 is arranged on the inner wall of the movable half-wheel 2, and a notch is processed at the joint of the two fixed banners 1-1. 1-2. When switching the wheel state, the single banner 3 is limited in the horizontal position by the notch 1-2, the upper end of the single banner 3 is in contact with the stopper 6, and the movable banner 8 is vertically arranged on the wheel foot conversion body A. In the lower half, one end of the movable banner 8 is fixedly connected with the central axis 4, and the other end of the movable banner 8 is fixedly connected with one end of the movable half-wheel 2. With such a design, it is easy to see that the single-span 3 is a follower spoke, which can rotate with the movable half-wheel 2 when the wheel foot is converted, and plays a role in improving the rigidity of the m...

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Abstract

The invention provides a wheel-foot conversion type mobile robot system, relating to mobile robots. The wheel-foot conversion type mobile robot system is used for solving the problems that the obstacle avoidance ability of the existing wheeled robots is poor and the walking speed of the existing footed robots is low. According to the wheel-foot conversion type mobile robot system, one end of each central axle is fixedly connected and is axially locked through a corresponding first limiting block, a shoulder is arranged at the other end of each central axle, a spring sleeves each central axle and is located between a corresponding bearing and the corresponding shoulder, a central blind hole is formed in the other end of each central axle, and a first key groove is formed in each central blind hole; semi-annular grooves are formed in fixed half wheels along the circumferential direction, movable half wheels and the fixed half wheels are in turning connection relatively to the central axles, complete wheels are formed by the fixed half wheels and the movable half wheels during the conversion to a wheeled state, the movable half wheels are turned into the semi-annular grooves of the fixed half wheels during the conversion to a footed state, and single scrolls are mounted on the central axles. The wheel-foot conversion type mobile robot system belongs to the field of the mobile robots.

Description

technical field [0001] The invention relates to a wheel-foot conversion type mobile robot, in particular to a mobile robot capable of switching between wheel-foot modes. Background technique [0002] The current disaster relief work is mainly based on manual search and rescue, which greatly limits the level and efficiency of rescue, causing many victims to miss the best treatment time and lose their precious lives. Because most of the search and rescue sites are severely damaged by fire, bombs, water, etc., the ground environment of the site is extremely complex, including flat roads and potholes; jungles, grasslands, stairs, obstacles, etc. These situations require the robot to have a particularly strong adaptability to the environment, not only to be able to move on a plane, but also to be able to climb up and down stairs and climb obstacles. At present, a single legged robot or a single wheeled robot cannot meet the requirements of the robot's particularly strong adaptab...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/028
CPCB62D57/028
Inventor 臧希喆孙欣然李长乐朱延河赵杰
Owner HARBIN INST OF TECH
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