Composite mobile robot with wheel-track legs

Abstract

The invention provides a composite mobile robot with wheel-track legs. The composite mobile robot comprises a frame, track arms, support legs and a wheeled elevating mechanism, wherein the track arms are connected with the frame through an inner shaft and an outer shaft, the four sets of the track arms are symmetrically distributed at four corners of the frame; the support legs are connected with the frame through a support leg transmission shaft, and the two support legs are symmetrically distributed in front of and behind the frame; the wheeled elevating mechanism is connected with the frame through a connecting plate, and is arranged at the middle part of the frame. According to the composite mobile robot disclosed by the invention, motors are used for driving the track arms, the support legs and the wheeled elevating mechanism to move, so that the robot has different postures, the composite motion manner of wheels, tracks and legs is realized, and the obstacle surmounting capacity is greatly improved.

Description

technical field [0001] The invention relates to a device in the field of mobile robots, in particular to a wheel-track-leg compound mobile robot. Background technique [0002] With the development of society and the advancement of technology, robots are becoming more and more intelligent, and they are used more and more in complex environments. As an important branch of robotics, mobile robots are widely used in dangerous and harsh environments such as investigation, patrolling, alerting, and mine clearance. However, there are still many problems to be solved in practical applications. For mobile robots, long-term survival and stable work in an unstructured environment are a huge challenge, especially when the robot cannot avoid obstacles or complex terrain, but must When crossing or adapting to complex environments, the ability to overcome obstacles is even more important for robots. [0003] Wheeled robots have the advantages of simple structure, convenient control, and ...

AI Technical Summary

Problems solved by technology

[0006] The actuators of the above-mentioned inventions are all composed of crawlers, with complex structures and heavy weights. The entire robot is too bulky during the re-movement process, and the switching of motion modes is based on the movement of the parallelogram structure. When encountering complex terrain, the mode conversion is relatively simple. , there is no strict sense of the wheel mechanism and the leg mechanism, so it is impossible to truly reflect the advantages of the simplicity and lightness of the wheel movement and the flexibility and changeability of the leg movement

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