A Modified Wheel-Tread-Leg Composite Robot

Abstract

The invention discloses a transformable wheel-track hybrid robot which comprises a chassis and an advance driving mechanism. The advance driving mechanism comprises advance power devices, caterpillar track driving wheels and caterpillar track driven wheels, more than three transformable wheel parts are installed on the chassis, each transformable wheel part comprises a transformable wheel rim and a transformation switching mechanism, each transformable wheel rim comprises multiple arc-shaped wheel rim pieces which are connected end to end in a hinged mode to form one wheel rim, the outer sides of the wheel rims are wrapped with caterpillar tracks, and the caterpillar tracks are used for being matched with the caterpillar track driving wheels and the caterpillar track driven wheels to form a caterpillar track driving state. Each transformation switching mechanism comprises more than two spring pulling rods and a transformation power device, each arc-shaped wheel rim piece is correspondingly matched with the telescopic end of one spring pulling rod, and telescoping of the spring pulling rods enables the adjacent arc-shaped wheel rim pieces to displace under the drive of the transformation power devices so as to change the shapes and advance postures of the wheel rims. The transformable wheel-track hybrid robot has the advantages of being simple and compact in structure, flexible in motion mode, good in terrain adaptability capacity and the like.

Description

technical field [0001] The invention mainly relates to the field of mobile robots, in particular to a modified wheel-track-leg composite robot. Background technique [0002] As we all know, small ground mobile robots used for dangerous operations such as fires, mine disasters, and nuclear leaks have become another hot spot in the field of mobile robot research due to their small size, low cost, strong survivability, and flexible movement. The most basic walking modes of mobile robots are wheeled, crawler and legged. Among them, the wheeled structure runs smoothly, high speed and high efficiency, but its ability to overcome obstacles and adapt to complex terrain is very limited; the grounding ratio of the crawler walking device is The pressure is small, and it can adapt to soft terrain such as sandy soil and mud, but it also has the disadvantages of poor turning performance, low speed and efficiency; the leg structure has the advantages of strong obstacle-crossing ability and...

AI Technical Summary

Problems solved by technology

The most basic walking modes of mobile robots are wheeled, crawler and legged. Among them, the wheeled structure runs smoothly, high speed and high efficiency, but its ability to overcome obstacles and adapt to complex terrain is very limited; the grounding ratio of the crawler walking device is The pressure is small, and it can adapt to soft terrain such as sandy soil and mud, but it also has the disadvantages of poor turning performance, low speed and efficiency; the leg structure has the advantages of strong obstacle-crossing ability and good adaptability, but its traveling speed is low and high energy consumption

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