Perception type reconfigurable bionic sand wheel for moving navigational platform

A sandy ground and platform technology, applied in the direction of wheels, transportation and packaging, vehicle parts, etc., can solve the problems of poor comprehensive performance, inability to balance traction and steering resistance, inability to adapt to different environments, etc.

Inactive Publication Date: 2005-04-13
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For the mobile robot navigation platform that simulates the ground and space environment, there are still many problems in the wheel, which is the key component of the robot's walking. Environment such as hard ground, soft ground and sandy ground
(2) The ability to perceive the environment is ...

Method used

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  • Perception type reconfigurable bionic sand wheel for moving navigational platform
  • Perception type reconfigurable bionic sand wheel for moving navigational platform
  • Perception type reconfigurable bionic sand wheel for moving navigational platform

Examples

Experimental program
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specific Embodiment approach 1

[0005] Specific implementation mode one: (referring to Fig. 1- image 3 ) This embodiment consists of a reconfigurable wheel rim 1, a sensing sensor reflection device 2, a wheel inner sand shield 3, a sensing sensor emitting device 4, a motor assembly 5, a clamping sleeve 6, a wheel arm 7, a wheel hub 8, and a wheel outer stop Sand plate 9, tapered sleeve 10, elastic rim inner plate 18, bolt 11, bearing 12, elastic rim outer plate 13, elastic tire 14, non-contact temperature sensor 15, support 20 form; the lower end of wheel arm 7 and One side of the clamping sleeve 6 is fixedly connected, the motor assembly 5 is fixed in the clamping sleeve 6 by bolts 11, a bearing 12 is arranged between the hub 8 and the clamping sleeve 6, and the output shaft 19 of the motor assembly 5 and the hub 8 Rotatingly connected by the tapered sleeve 10, the outer side of the curved surface of the hub 8 is fixed with an elastic rim outer plate 13, and the inner side of the curved surface of the whee...

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Abstract

The present invention relates to the improvement of wheel structure for mobile navigation platform. In the perceptive bionic sands wheel capable of being reconfigured for mobile navigation platform, there are outside elastic rim board fixed outside the hub camber, inside elastic rim board fixed inside the hub camber, elastic tyre set inside the central line of the rim capable of being reconfigured, perception sensor reflecting devices set in the equal interval inside the elastic tyre, and perception sensor sending devices set in the equal interval on the rack camber. The present invention has the advantages of simple and compact structure, improved linear running stability and turning performance, increased contact area to ground, capacity of suiting various environment, relatively high passing capacity in sandy environment, environment temperature and obstacle sensing capacity, etc.

Description

Technical field: [0001] The invention relates to an improvement of the wheel structure of a mobile navigation platform. Background technique: [0002] Wheeled running mechanism is widely used in mobile robots and vehicles because of its simple and reliable structure, high-speed stability, high energy utilization rate, good maneuverability and good passability. For the mobile robot navigation platform that simulates the ground and space environment, there are still many problems in the wheel, which is the key component of the robot's walking. environment such as hard ground, soft ground and sandy ground. (2) The ability to perceive the environment is poor, and the wheels do not have the ability to perceive the parameters of the environment such as temperature and obstacles. (3) In the sandy environment, for the same wheel, its traction and steering resistance cannot be taken into account. That is, the comprehensive performance of traction and steering is poor. Invention ...

Claims

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Application Information

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IPC IPC(8): B60B19/00
Inventor 付宜利徐贺王树国宋铁兵蒋再男
Owner HARBIN INST OF TECH
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