The invention discloses a wheeled obstacle-crossing robot with a pitching vehicle body. The wheeled obstacle-crossing robot comprises a vehicle frame, a driving device and a plurality of walking devices, the vehicle frame comprises a front vehicle frame and a rear vehicle frame, the rear vehicle frame is rotationally connected with the front vehicle frame, the driving device is arranged on the rear vehicle frame and is used for driving the rear vehicle frame to rotate around the front vehicle frame so that the vehicle frame can be in a regular V shape or an inverted V shape, and the pluralityof walking devices comprises wheel legs and driving wheels and are used for driving the whole robot to move. According to the wheeled obstacle-crossing robot with the pitching vehicle body, a synchronous belt wheel is driven by a motor, the rotation angle of the motor is transmitted to the vehicle body for pitching, the front wheel is lifted so that the wheel can be attached to the surface of an obstacle better, the contact area between the wheel and the obstacle is increased, and the distance between front and rear driving wheels is shortened, therefore, more wheels are used for driving whenthe vehicle body passes through the obstacle, the obstacle can be crossed more easily, or the vehicle body is V-shaped and can be attached to the road surface better, the center of gravity is lowered,and the downhill stability is improved.
本发明公开了一种俯仰车身轮式越障机器人,包括车架,包括前车架和后车架,其中,后车架与前车架转动连接,驱动装置,设置在后车架上,用于驱动后车架绕前车架转动,以使车架形成正V型或倒V型形状,以及多个行走装置,包括轮腿和驱动轮,用于驱动整个机器人移动。本发明的俯仰车身轮式越障机器人,通过采用电机驱动同步带轮,将电机转动角度传递给车身进行俯仰,抬高前车轮能够使得车轮更加贴合障碍物表面,增加轮子与障碍物的接触面积,缩短前后驱动轮之间的距离,使得车身通过障碍物时用于的驱动的轮子更多,从而更容易跨越障碍,或使得车身呈现V型,能够更加贴合路面,降低重心,提高下坡稳定性。
Wheeled obstacle-crossing robot with pitching vehicle body
一种俯仰车身轮式越障机器人
2020-05-26
Patent
Electronic Resource
Chinese