Wheeled-tracked-legged composite type mobile robot

Abstract

The invention discloses a wheeled-tracked-legged composite type mobile robot. The wheeled-tracked-legged composite type mobile robot aims at solving the technical problems that the existing tracked robots are complex in structure, poor in obstacle crossing capability, low in carrying capability, poor in flexibility and stability at different levels and the like. The wheeled-tracked-legged composite type mobile robot is formed by two main tracks, two front swing arm tracks, two rear swing arm tracks and a vehicle body; two ends of the front swing arm tracks and the rear swing arm tracks are respectively connected with the vehicle body and the main tracks in a flexible mode through track shafts to form into parallelogram-shaped transmission mechanisms which are arranged on two sides of the vehicle body; the track shafts of the rear swing arm tracks are connected with driving devices in a transmission mode; rotation of a front swing arm track frame and a rear swing arm track is achieved through power transmission. The wheeled-tracked-legged composite type mobile robot has the advantages of being simple in structure and flexible to move due to the fact that a main body of the robot is based on parallelogram-shaped connecting rod structures; enabling a wheeled type, a tracked type and a legged type to be chose during a moving process according to characteristics of geographical conditions; being strong in capabilities of climbing, groove crossing, obstacle crossing and stair walking up and walking down and strong in movement stability; being strong in carrying capability, easy to control and widely applied to complex terrain, anti-terrorist and space exploration.

Description

Technical field: [0001] The invention relates to a mobile robot, in particular to a deformable wheel-track-leg compound mobile robot. It is mainly used in disaster relief, anti-terrorism EOD, military and similar applications. Background technique: [0002] At present, typical crawler mobile robots can be divided into fixed crawler robots (single-section double crawlers) and deformable crawler robots. Transformable crawler robots can be divided into four-track double-swing-arm robots and six-track four-swing-arm robots according to the number of swing arms. URBOT, NUGV, and Talon robots in the United States are relatively typical single-section double-track robots. This type of single-section double-track mobile robot has a simple structure. Compared with other double-section or multi-section multi-track mobile robots, it is easier to control and more flexible. The performance is better, but its ability to overcome obstacles is poor. The biggest highlight of iRobot's Pack...

AI Technical Summary

Problems solved by technology

[0003] In order to solve the technical problems of the existing crawler robots in different degrees, such as complex structure, poor obstacle-surmounting ability, low carrying capacity, poor flexibility and stability, etc., the present invention proposes a wheel-track-leg composite mobile robot, which The basic structure is composed of two main crawlers, two front swing arm crawlers, two rear swing arm crawlers and car body; The movable connection forms a parallelogram transmission mechanism and is placed on both sides of the car body; the crawler shaft of the rear swing arm crawler is connected to the drive device; and the rotation of the front and rear swing arm crawler frames is realized through power transmission

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