A step wheel combined mobile robot

Abstract

The invention relates to a leg-wheel-caterpillar compound mobile robot; the centers of front and rear wheels and a car body are connected by a telescopic rod and the lateral wing of a caterpillar; a power on the car body is connected with a wheel via a reducer by a bearing on the car body; two ends of the telescopic rod are respectively connected with spherical pairs fixed on the car body and the lateral wing of the caterpillar; the rotating function of the robot can be realized by the power and the reducer, which are fixed on the car body; the stretching function of the robot can be realized by a gear-rack mechanism or by hydraulic pressure; the caterpillar can realize the moving function by the power fixed on the caterpillar via the reducer; the mobile robot of the invention takes a wheel-type robot as a carrier, and combines the leg-type and the caterpillar-type mobile mechanisms into a whole; the invention can adapt to the surface curve of the ground by changing the grounding curve in the system, which has multiple movement modes and strong obstacle-climbing capacity; in addition, the invention can adjust the gravity center by changing the postures of the lateral wing of the caterpillar and the car body; the invention has the advantages of flexible movement and compact structure.

Description

technical field [0001] The invention relates to the field of robots, in particular to a walking-wheel-track compound mobile robot. The mobile robot of the present invention uses a wheeled mobile robot as a carrier, and a leg type and a crawler type moving mechanism are superimposed on it, so that it has multiple motion modes of the wheel type, the crawler type, and the leg type. Background technique [0002] Wheeled, tracked, and legged mobile mechanisms are the three most widely studied mobile mechanisms that are currently used in mobile robots. Wheeled mobile robots have the characteristics of simple structure, fast moving speed and easy manipulation, but they are only suitable for running on flat ground and cannot go up and down stairs and across ditches. The tracked mobile robot is characterized by good stability, it can walk on uneven ground, and can cross obstacles and climb larger slopes or stairs. However, the manipulation of the movement direction of the crawler-t...

AI Technical Summary

Problems solved by technology

However, Huang Qiang, Duan Xingguang and others from Beijing Institute of Technology applied for the patent (publication number: CN 1644328A) of a small wheel-track-leg compound mobile robot in 2005, although this patent combines wheel, crawler and leg mechanisms together. , but the track leg structure it designs is that the track rotates 360 degrees around its connection point with the robot body to simulate the movement of the leg, and the track leg adopts an inner and outer shaft transmission mechanism, that is, two movements are transmitted on the same rotation center , which leads to easy failure of tracks and legs when switching, reduced reliability, and complicated control

Therefore, the structural and control complexity of composite mechanisms remains an obstacle to the maneuverability of modern mobile robots

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