The invention relates to a mobile robot, in particular to a wheel step self-adaptive variable-configuration mobile robot. The robot comprises a trolley body, foot plates, small spring connecting pins,springs, large spring connecting pins, wheels and a driving motor. Wheels are mounted on two sides of the vehicle body; the middle parts of the wheels are connected with a driving motor mounted on the vehicle body and driven by the driving motor, a plurality of spokes are evenly arranged in the middle of the wheel in the circumferential direction, a foot plate is hinged to each spoke, a small spring connecting pin is installed on each foot plate, a large spring connecting pin is installed on each spoke, and a spring is connected between the small spring connecting pin on each foot plate and the large spring connecting pin on each spoke. The robot is simple in structure, light and compact in overall structure and flexible in movement, vibration caused by wheel grounding discontinuity can be effectively relieved through spring stretching of the foot plate, and the robot still has stability under the condition that the robot has obstacle crossing capacity.

    本发明涉及移动机器人,具体地说是一种轮步自适应变构型移动机器人,包括车体、脚板、小弹簧连接销、弹簧、大弹簧连接销、轮子及驱动电机,车体两侧均安装有轮子,轮子的中间部与安装于车体上的驱动电机相连,由驱动电机驱动旋转,轮子的中间部沿圆周方向均匀设有多个轮辐,每个轮辐上均铰接有脚板,每个脚板上均安装有小弹簧连接销,每个轮辐上均安装有大弹簧连接销,每个脚板上的小弹簧连接销与每个轮辐上的大弹簧连接销之间均连接有弹簧。本发明结构简单,总体结构轻盈紧凑,运动灵活,通过脚板的弹簧拉伸可以有效缓解因为轮子接地不连续性造成的振动,在拥有着越障能力的条件下仍然具有稳定性。


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    Title :

    Wheel step self-adaptive variable-configuration mobile robot


    Additional title:

    轮步自适应变构型移动机器人


    Contributors:
    LIU JINGUO (author) / WANG MANGKUAN (author) / FENG JINGKAI (author)

    Publication date :

    2020-08-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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