Wheel-track type mobile robot

Abstract

The invention provides a wheel-track type mobile robot. The robot comprises a chassis; a plurality of walking wheels are arranged below the chassis; a swing arm is connected to the walking wheel at at least one end; each swing arm comprises a fixed wheel, a wobble wheel and a track bypassing the fixed wheel and the wobble wheel, the fixed wheel and the walking wheels are coaxially arranged, and the fixed wheel can rotate relative to the walking wheels to adjust the swing arm direction. The wheel-track type mobile robot has the advantages that rapid movement is realized through the walking wheels, the requirement of long-distance rapid movement can be met, the noise is low, obstacle crossing can be realized through the swing arms, and the robot can rapidly pass through obstacles such as steps and the like, so that the use scene of the robot is widened; in addition, the directions of the swing arms can be adjusted while walking, the direction of a swing arm track does not need to be adjusted by parking, and the passing speed is increased.

Description

technical field [0001] The invention relates to the technical field of mobile robots, in particular to a wheel-track mobile robot. Background technique [0002] As a mobile platform, mobile robots are generally divided into wheeled and crawler. Wheeled mobile robots usually use two-wheel drive, four-wheel drive or multi-wheel drive, which are characterized by simple structure, relatively fast moving speed, low motion noise, and are suitable for long-distance movement. Insufficient capacity, unable to work on complex road sections, and limited application occasions. Compared with wheeled mobile robots, crawler-type mobile robots have good obstacle-surmounting ability, strong terrain adaptability, and can turn in place, but their moving speed is relatively low, their efficiency is low, and their movement noise is relatively large, so they are not suitable for long-distance movement. [0003] The invention patent application with the publication number CN102582706A discloses ...

AI Technical Summary

Problems solved by technology

Wheeled mobile robots usually use two-wheel drive, four-wheel drive or multi-wheel drive, which are characterized by simple structure, relatively fast moving speed, low motion noise, and are suitable for long-distance movement. Insufficient capacity, unable to work on complex road sections, and limited application occasions

Compared with wheeled mobile robots, crawler-type mobile robots have good obstacle-surmounting ability, strong terrain adaptability, and can turn in place, but their moving speed is relatively low, their efficiency is low, and their movement noise is relatively large, so they are not suitable for long-distance movement.

[0003] The invention patent application with the publication number CN102582706A discloses a motion device for an underground search and rescue detection robot in coal mines, which can independently drive the robot to move using wheeled or crawler-type moving modes. It can be continued, and the structure is relatively complicated and inconvenient to use

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