The invention belongs to the technical field of disaster relief robots, and provides a self-adaptive obstacle crossing wheel type disaster relief robot which comprises a power system, a central control system, a V-shaped vehicle body and a magnetorheological fluid wheel train. According to the robot, self-adaptive deformation of the magnetorheological fluid wheels of locking, unlocking and re-locking is achieved through magnetorheological fluid cylinders by means of different properties of magnetorheological fluid in a magnetic field, that is, when the magnetorheological fluid wheels of the robot advance on the flat ground, the magnetorheological fluid cylinders are locked, and normal walking is achieved. When the magnetorheological fluid wheels touch a stepped obstacle, the magnetorheological fluid wheels are unlocked and generate self-adaptive deformation, the contact area between the magnetorheological fluid wheels and the vertical face is increased, and vertical climbing of the magnetorheological fluid wheels is achieved. When the robot is about to arrive at a plane on the step, the magnetorheological fluid wheels are locked at the corner angles of the step, a wheel-leg-like mechanism is formed to support the magnetorheological fluid wheels to climb over the stepped obstacle, and the function of self-adaptive deformation of the disaster relief robot for obstacle crossing is completed. By means of the magnetorheological fluid scheme, the problem when the robot climbs over the stepped obstacle is solved.

    本发明属于救灾机器人技术领域,提供一种自适应越障的轮式救灾机器人,包括动力系统、中心控制系统、“V”型车身和磁流变液轮系。该机器人利用磁流变液在磁场下的不同性态,通过磁流变液缸实现锁定‑解锁‑复锁的磁流变液轮的自适应变形,即机器人磁流变液轮平地行进时磁流变液缸锁定,正常行走。当磁流变液轮触碰到阶梯型障碍时,磁流变液轮解锁发生自适应性变形,与竖直面增大接触面积,实现磁流变液轮的竖直爬升。机器人即将到达阶梯上一平面时,磁流变液轮在阶梯棱角处锁定,构成类轮腿机构支撑磁流变液轮完成阶梯型障碍的翻越,完成救灾机器人针对越障的自适应性变形的功能。本发明通过磁流变液方案解决了机器人在翻越阶梯型障碍时的问题。


    Access

    Download


    Export, share and cite



    Title :

    Self-adaptive obstacle crossing wheel type disaster relief robot


    Additional title:

    一种自适应越障的轮式救灾机器人


    Contributors:
    LI TE (author) / RUAN WENJUN (author) / LIU HAIBO (author) / CUI WENBO (author) / LI XU (author) / WANG YONGQING (author)

    Publication date :

    2021-06-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60B VEHICLE WHEELS , Räder für Fahrzeuge



    Wheel type obstacle crossing robot chassis

    QIN HUANHUAN / LIU WEI / ZHI TAO | European Patent Office | 2021

    Free access

    Wheel leg type obstacle crossing mechanism and obstacle crossing robot

    CHEN CHENG / DENG JIE / HU ZHE et al. | European Patent Office | 2020

    Free access

    PLANETARY WHEEL TYPE OBSTACLE CROSSING ROBOT

    HAN BIN / CHEN XUEDONG | European Patent Office | 2022

    Free access

    Self-adaptive obstacle-crossing deformation wheel

    WANG SHUGUANG / NIE JUNLIN / LI YONG et al. | European Patent Office | 2022

    Free access

    Planetary wheel type obstacle crossing robot

    HAN BIN / CHEN XUEDONG | European Patent Office | 2024

    Free access