Wheel type moving structure and wheel type robot containing it

Abstract

The invention relates to a wheel type moving structure, comprising a base, steering mechanisms and moving mechanisms; there are two groups of steering mechanisms located at front and back ends of the base, and the steering mechanisms are connected with the base; there are four groups of moving mechanisms, every two moving mechanisms are connected through a connecting rod and a group of steering mechanism and rotated on the horizontal direction under the driving of the steering mechanism; the base is horizontally moved under the driving of the moving mechanisms. The rotating direction of the wheel type moving structure is controlled through the paired driving of the front and back wheels, and every wheel is controlled to rotate, thus the all-around movement is realized; the wheel type moving structure can realize zero-radius revolving, speed adjustable and is convenient to control.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a wheeled mobile structure and a wheeled robot comprising the same. Background technique [0002] Mobile robot is an important branch of robotics. As early as the 1960s, research on mobile robots had already begun. The research on mobile robots involves many aspects. First of all, it is necessary to consider the way of movement, which can be wheeled, crawler, legged, and for underwater robots, it is propeller. Second, the control of the actuators must be considered in order to achieve the desired behavior of the robot. Third, navigation or path planning must be considered, and for the latter, there are more aspects to consider, such as sensor fusion, feature extraction, collision avoidance, and environment mapping. Therefore, a mobile robot is a comprehensive system integrating multiple functions such as environment perception, dynamic decision-making and planning, behavior control and ...

AI Technical Summary

Problems solved by technology

[0007] The existing wheel rotation mechanism designs mainly include Figure 5 a and Figure 5 b two structures, but the above two structures have different degrees of disadvantages: such as Figure 5 As shown in a, the contact area between the wheel and the ground is small, which may cause slippage, and forms a bending moment on the motor shaft, which is easy to cause damage to the motor shaft and is very inconvenient to use; Figure 5 As shown in b, the embedded structure of the motor is adopted, which increases the contact area between the wheel and the ground and reduces the slipping phenomenon, but it is difficult to fix the motor, and it is not convenient for installation and production

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