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Obstacle crossing robot based on wheel-track leg type chassis

A robot and chassis technology, which is applied in the field of off-road robots, can solve the problems of high flexibility, inflexible steering, and slow moving speed, etc., and achieve the effect of superior obstacle-crossing effect, small size, and reasonable structure

Active Publication Date: 2020-11-03
HOHAI UNIV CHANGZHOU
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The legged structure has a strong ability to adapt to the terrain, but the control is complicated and it is difficult to meet the requirements of high flexibility
The crawler structure has a strong ability to overcome obstacles, but the speed on flat ground is slow and the steering is inflexible

Method used

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  • Obstacle crossing robot based on wheel-track leg type chassis
  • Obstacle crossing robot based on wheel-track leg type chassis
  • Obstacle crossing robot based on wheel-track leg type chassis

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Embodiment Construction

[0021] In order to enable those skilled in the art to better understand the technical solutions in the application, the technical solutions in the embodiments of the application are clearly and completely described below. Obviously, the described embodiments are only part of the embodiments of the application, and Not all examples. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0022] An obstacle-surmounting robot based on a wheel-track-legged chassis, including a chassis body, two sets of leg-type rocker systems, two sets of crawler systems, and two sets of wheel-type drive systems, and the two sets of wheel-type drive systems are symmetrically arranged on the chassis On both sides of the body, two sets of crawler systems are respectively arranged in cooperation with the wheel drive system, and two sets of the leg rock...

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Abstract

The invention discloses an obstacle crossing robot based on a wheel-tracked leg type chassis, which comprises a chassis body, two sets of leg type rocker arm systems, two sets of crawler belt systemsand two sets of wheel type driving systems, the two sets of wheel type driving systems are symmetrically arranged on the two sides of the chassis body correspondingly, and the two sets of crawler beltsystems are matched with the wheel type driving systems correspondingly; the two sets of leg type rocker arm systems are connected with the crawler belt systems and the wheel type driving systems onthe two sides of the chassis body in a matched mode correspondingly. The robot is reasonable and reliable in structure, small in size, excellent in obstacle crossing effect, convenient to drive, relatively low in manufacturing cost and capable of moving in any direction and rotating in situ. The cantilever can rotate around the transmission shaft at any angle, so that the robot is suitable for complex outdoor and indoor environments.

Description

technical field [0001] The invention relates to an obstacle-surmounting robot based on a wheel-track-leg chassis, belonging to the technical field of off-road robots. Background technique [0002] With the continuous extension of the field of human activities, the working environment of obstacle-crossing robots has gradually penetrated into some unpredictable environments, which requires obstacle-crossing robots to have strong terrain adaptability and efficient and autonomous movement patterns. According to different walking modes, obstacle-crossing robots are divided into various forms such as wheeled, legged, crawler and hybrid. The wheeled structure is simple and the running speed is fast, but there are certain defects in its obstacle-surmounting ability and stability in an unstructured environment. The legged structure has a strong ability to adapt to the terrain, but the control is complicated and it is not easy to meet the requirements of high flexibility. The crawle...

Claims

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Application Information

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IPC IPC(8): B62D57/02B62D55/065
CPCB62D57/02B62D55/065
Inventor 徐孝彬宿广煜柏永华潘志杰李渊炜骆敏舟谭治英
Owner HOHAI UNIV CHANGZHOU
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