Wheel-legged obstacle crossing robot

Abstract

The invention provides a wheel-legged obstacle crossing robot, and belongs to the field of mobile robots. The wheel-legged obstacle crossing robot comprises a frame and a wheel leg mechanism, connected with each other; the wheel leg mechanism comprises a frame joint, a mechanical arm steering device, a mechanism arm, a wheel body steering device and a wheel body device; the mechanical arm steeringdevice is rotationally connected with the frame joint; one end of the mechanical arm is connected with the mechanical arm steering device, and the other end of the mechanical arm is connected with the wheel body steering device; the wheel body device is rotationally connected with the wheel body steering device; the mechanical arm comprises a telescopic driving device and a quadrangular mechanismcapable of being folded and deformed; and a fixed end and an expansion end of the telescopic driving device are separately connected with the two ends of a diagonal of the quadrangular mechanism. Themechanical arm steering device can be used for driving the mechanical arm to rotate horizontally, the wheel body steering device can drive the wheel body device to rotate horizontally, and the mechanical arm moves in the height direction through the telescopic driving device of the mechanical arm, so that the wheel-legged obstacle crossing robot achieves the omnibearing driving of multiple degrees of freedom, thereby having high obstacle crossing performance.

Description

technical field [0001] The invention relates to the field of mobile robots, in particular to a wheel-leg type obstacle-surmounting robot. Background technique [0002] Robot technology is developing rapidly, among which mobile robot is one of the most active areas of robot science and technology development. [0003] With the continuous improvement of performance, the application range of mobile robots has been greatly expanded, not only in industry, agriculture, forestry, medical treatment, service and other industries, but also in harmful and dangerous situations such as urban security, national defense and space exploration. are well applied. [0004] According to the way of movement, ground mobile robots can be divided into wheeled, crawler, footed and so on. In recent years, researchers from various countries have conducted a lot of research on wheel-legged composite mobile robots. [0005] Among them, wheeled robots work at high speed and high efficiency, but they h...

AI Technical Summary

Problems solved by technology

[0005] Among them, wheeled robots work at high speed and high efficiency, but they have high requirements for application scenarios, and are often only suitable for flat roads; footed robots have better obstacle surmountability and complex terrain applicability, and can be used in environments such as rocks or soil slopes, but their efficiency is relatively low. Low and complex control structure

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