Rocker-type wheel and track combining robot

Abstract

The invention relates to a rocker-type wheel and track combining robot which comprises a main box body, a differential balancer, two connecting cylinders, and W-shaped walking part assemblies which are symmetrically arranged left and right, wherein a casing of the differential balancer is fixed at the middle of the main box body, one end of each connecting cylinder is connected with one of two extending shafts of the differential balancer and the other end is supported in a bearing block fixedly connected with the main box body and is connected with the walking part assemblies. A drive belt pulley is arranged at a corner of the middle of a W-shaped bracket, a drive reducing motor is fixed on the bracket and is connected with the drive belt pulley, W-shaped tracks lifting a certain angle are arranged at the front and the rear of the robot, and wheels are arranged outside a driven belt pulley at the corner of the bottom of the bracket and are coaxially connected with the driven belt pulley. The invention has better property of the rocker-type robot adapting to a rugged terrain, and has higher property of a rocker-type track robot crossing steps and barriers.

Description

Technical field [0001] The invention relates to a rocker-type wheel-track combined robot, which belongs to the field of mobile robot mechanism design. Background technique [0002] At present, most mobile robots with a rocker structure are wheeled robots, such as the principle prototypes of a large number of planetary exploration robots such as the Rock series and FIDO developed by the United States, and the successful landing of Mars such as "Sojna" and "Courage". It is a rocker-type 6-wheel independent driving robot. In China, the China University of Mining and Technology has developed a rocker-type four-wheel robot. The robot has a simple structure, strong obstacle crossing performance and performance to adapt to uneven terrain. The robot also has shortcomings, such as when the robot climbs a step that is perpendicular to the ground and has a large height, especially when the height of the step exceeds the diameter of the wheel, it is more difficult. At present, in order to im...

AI Technical Summary

Problems solved by technology

The robot also has disadvantages, such as when the robot climbs over the steps perpendicular to the ground and with a large height, especially when the height of the steps exceeds the diameter of the wheel, it is more difficult

However, the left and right main tracks of the small crawler robot are fixed to the main platform of the robot. When moving on uneven ground, the main platform of the robot has large fluctuations and large vibrations.

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