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Wheel-tracked mobile robot based on Mecanum wheels

A mobile robot, wheel-tracking technology, applied in the field of mobile robots, can solve problems such as difficulty in moving in all directions, achieve excellent obstacle-surmounting and climbing functions, easy disassembly and maintenance, and simple structure.

Inactive Publication Date: 2022-02-22
CENT SOUTH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, it is difficult for wheeled mobile robots to move in all directions in a narrow space. In order to adapt to more complex terrain and narrow spaces, mobile robots must be able to move in all directions and have strong obstacle climbing capabilities. However, due to the harsh environment of earthquake rescue and detection, it is necessary to make better improvements in the size and weight of mobile robots

Method used

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  • Wheel-tracked mobile robot based on Mecanum wheels
  • Wheel-tracked mobile robot based on Mecanum wheels
  • Wheel-tracked mobile robot based on Mecanum wheels

Examples

Experimental program
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Embodiment Construction

[0019] The basic structure of the mobile robot is four mecanum wheels, four crawler leg mechanisms, four drive motors, four crawler leg swing motors, car body, four pairs of gear transmission mechanisms, internal and external shaft transmission structures, and four sets of integrated planets. The gear reducer and the final cylindrical gear reduction pair transmission mechanism adopt a symmetrical structure. as attached figure 1 As shown, the four crawler legs 3 are installed inside the mecanum wheel 2; the mobile robot adopts a modular design, and each module is composed of the mecanum wheel 2, track legs 3, track leg driving mechanism 4, wheel track wheels The drive mechanism 5 is composed of; the crawler leg drive mechanism 4 is composed of a swing reducer 8, a swing drive motor 9, and a swing controller 10; the wheel track wheel drive mechanism 5 is composed of a main drive reducer 11, a main drive motor 12, and a main drive controller 13 Composition; the crawler leg drive...

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PUM

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Abstract

The invention discloses a wheel-tracked mobile robot based on Mecanum wheels. The mobile robot comprises four Mecanum wheels, four track leg mechanisms, a vehicle body, four main driving mechanisms, four track leg swinging mechanisms and the like, is an important part of a ground mobile robot, a has the characteristics of small size, light weight, and long working time, and is often used for earthquake rescue, investigation and detection and the like. The mobile robot has multiple movement modes of wheel type, crawler type and crawler and leg combined type, front and rear crawler legs can swing by 360 degrees, the front and rear crawler legs can also serve as driving systems, and the proper movement modes can be switched according to terrains, so the mobile robot can adapt to more complex terrains and narrower spaces.

Description

technical field [0001] The invention relates to the technical field of mobile robots, in particular to a wheel-track mobile robot based on Mecanum wheels. Background technique [0002] The wheel-track compound mobile robot is an important branch of ground mobile robots, and it has a close relationship with people's life. In daily life, ground mobile robots are mainly used to assist people to walk, climb stairs and other obstacles. They can also help people transport valuables to their destinations lightly. Stair climbing is the most common obstacle. [0003] Now, due to people's higher and higher requirements for mobile robots, the demand for walking and obstacle-surpassing capabilities in unknown environments is also increasing. At present, it is difficult for wheeled mobile robots to move in all directions in a narrow space. In order to adapt to more complex terrain and narrow spaces, mobile robots must be able to move in all directions and have strong obstacle climbing c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/02B60B19/12
CPCB62D57/02B60B19/125
Inventor 陈志高胡仕成黎新齐
Owner CENT SOUTH UNIV
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