Wheel leg type multi-mode patrol inspection and rescue robot

Abstract

The invention discloses a wheel leg type multi-mode patrol inspection and rescue robot which comprises a multi-steady state machine frame, four sports legs, four omni-directional wheels with drive motors, a steering engine wire wheel assembly and an external sensor, wherein the multi-steady state machine frame comprises four base units, the four base units forms a polygonal structure, the every two adjacent base units are connected with each other through an energy storage hinge, and each of the base units consists of two connecting blocks and a spring hinge between the connecting blocks; thefour sports legs are respectively and symmetrically mounted on the four base units; the four omni-directional wheels are respectively mounted on the four base units; the steering engine wire wheel assembly comprises a wire wheel and a drive steering engine which are mutually connected, the eight connecting blocks are connected in series through a steel wire rope on the wire wheel, and the drive steering gear is connected with any one connecting block; the external sensor is mounted on the multi-steady state machine frame. The wheel leg type multi-mode patrol inspection and rescue robot disclosed by the invention has the characteristics of light weight, strong flexibility, high reliability and the like.

Description

Technical field [0001] The invention relates to the technical field of robots, in particular to a wheel-legged multi-mode inspection search and rescue robot. Background technique [0002] Movable robots are a research hotspot in the field of robotics. Because of their characteristics of autonomously perceiving the environment, making decisions and completing corresponding tasks, they are widely used in various complex environments. The research on it now mainly focuses on robot structure design, state perception, etc., so that it can complete tasks efficiently and accurately at a minimum cost. [0003] In recent years, the sensor technology of mobile robots and the optimization technology of mechanism structure have been continuously developed, especially the maturity of the position and mapping technology at the same time, allowing autonomous mobile robots to act as the main force in the task of exploring harsh environments. Autonomous mobility is now available. The robot explore...

AI Technical Summary

Problems solved by technology

High-risk areas (such as chemical plants, nuclear power plants, etc.) are inherently dangerous and not suitable for human monitoring and inspection. Other post-disaster areas (such as areas after earthquakes, mudslides, and landslides) are also in harsh environments, and secondary disasters may occur at any time. time damage, so it is not suitable for humans to blindly enter the search, otherwise it may result in more sacrifices

Secondly, many high-risk areas do not have inspection channels pre-built for robots. It is difficult for ordinary inspection robots to traverse freely. The terrain of post-disaster areas is quite complex and may change in real time. search and rescue is not conducive to the overall search and rescue

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