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Rim-separable wheel diameter variable mobile obstacle crossing robot

A robot and wheel diameter technology, applied in the field of mobile robots, can solve the problems of complex structure, poor ability to overcome obstacles, and difficult control of legged mobile obstacle-crossing robots, and achieve the effect of effective obstacle-surmounting ability, convenient control, and high-speed moving performance.

Inactive Publication Date: 2017-09-26
宋天钰
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Among them, wheeled mobile obstacle-crossing robots are mostly used in flat ground environments, and their obstacle-breaking ability is poor; legged mobile obstacle-crossing robots have complex structures and difficult control
In the face of changing operating environments, traditional mobile obstacle-crossing robots can no longer meet the operating needs of the above-mentioned application fields

Method used

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  • Rim-separable wheel diameter variable mobile obstacle crossing robot
  • Rim-separable wheel diameter variable mobile obstacle crossing robot
  • Rim-separable wheel diameter variable mobile obstacle crossing robot

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Experimental program
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Embodiment Construction

[0012] The specific implementation manners of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0013] Such as Picture 1-1 , 1-2 , 2, a detachable rim variable wheel diameter mobile obstacle-crossing robot of the present invention comprises a fuselage trunk 1, and the fuselage trunk 1 includes a rectangular machine box 3, in which the rectangular machine box 3 The rear wall of the rear wall is fixed with a triangular tail 4, which is symmetrical with respect to the transverse mid-axis plane A of the rectangular case 3 and is in contact with the ground under the action of the gravity of the robot. A motor fixing groove 5 is respectively opened in the middle of the left and right sides of the rectangular machine box 3 , and a cable through hole 6 is opened on the rectangular machine box 3 . A passive expansion wheel device 2 is respectively arranged on the left and right sides of the rectangular case, and the two passive e...

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Abstract

The invention discloses a rim-separable wheel diameter variable mobile obstacle crossing robot, which comprises a machine body; one passive wheel expanding device is arranged at each of left and right sides of a rectangular machine box; every passive wheel expanding device comprises a driving motor, and an output shaft of the driving motor is fixedly connected with one end of a rotating spindle; the other end of the rotating spindle is rotationally connected with the middle of a chute ring base; an inner spoke is fixed in the rotating spindle, and three first connecting arms are arranged on the inner spoke; three second connecting arms are arranged on the chute ring base, a chute is arranged in the middle of every second connecting arm and arranged along the radial direction of the chute ring base; a driving unit is arranged between every first connecting arm and the second connecting arm. The device can equivalently realize the leg type movement function, and has high-speed movement performance and effective obstacle crossing ability.

Description

technical field [0001] The invention relates to a mobile robot, in particular to a mobile obstacle-surpassing robot with detachable wheel rims and changeable wheel diameters. Background technique [0002] In recent years, the demand for mobile obstacle-crossing robots has gradually increased in fields such as emergency rescue and disaster relief, military reconnaissance and attack, aerospace exploration, underwater underground pipeline detection, and people's livelihood services. At present, traditional mobile obstacle-crossing robots are divided into two types: wheeled and legged. Among them, wheeled mobile obstacle-crossing robots are mostly used in flat ground environments and have poor obstacle-crossing capabilities; legged mobile obstacle-crossing robots have complex structures and are difficult to control. Facing the changing working environment, traditional mobile obstacle-surpassing robots can no longer meet the operating needs of the above-mentioned application fie...

Claims

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Application Information

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IPC IPC(8): B62D57/02B60B19/02
CPCB60B19/02B62D57/02
Inventor 宋天钰
Owner 宋天钰
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