Wheel and caterpillar band switchable mobile chassis

Abstract

The invention relates to the field of mobile robots, in particular to a wheel and caterpillar band switchable mobile chassis. The wheel and caterpillar band switchable mobile chassis is characterized by comprising a connecting seat, a mounting platform, two wheel type moving pieces and a caterpillar band moving piece, wherein the mounting platform is arranged at the upper end of the connecting seat; the two wheel type moving pieces are symmetrically arranged on two sides of the connecting seat; each wheel type moving piece comprises a front wheel assembly close to the front end of the connecting seat and a rear wheel assembly close to the rear end of the connecting seat; a damping part is further connected between each front wheel assembly and the connecting seat; each rear wheel assembly can be folded or unfolded relative to the connecting seat; the caterpillar band moving piece is arranged below the connecting seat and comprises a supporting body and two caterpillar band assemblies arranged on two sides of the supporting body; the front end of the supporting body is connected with the front end of the connecting seat through a first folding and unfolding driving part; the rear end of the supporting body is hinged to the rear end of the connecting seat; and under the driving effect of the first folding and unfolding driving part, the supporting body can rotate relative to the connecting seat. The wheel and caterpillar band switchable mobile chassis not only is suitable for a flat ground environment, but also is suitable for climbing steps, and is high in movement speed.

Description

technical field [0001] The invention relates to the field of mobile robots, in particular to a mobile chassis for wheel-shoe switching. Background technique [0002] The ground mobile robot is an automatic operation device that can replace or assist humans to complete certain repetitive or dangerous tasks. Its basic carrier is the mobile chassis, which is the key stand-alone machine to realize the movement of the robot. Especially in some special occasions, due to the limitation of movement space and ground environment, it is hoped that the size of the mobile robot is small enough and has strong adaptability. Therefore, the mobile chassis is required to have a small size and strong adaptability. [0003] The existing robot mobile chassis mostly adopt a single crawler or wheeled walking structure; the crawler chassis has a complex structure, low speed, and scratches on the ground due to the differential speed of the two sides of the crawler when turning; and the ground adapt...

AI Technical Summary

Problems solved by technology

[0003]Most of the existing robot mobile chassis adopt a single crawler or wheeled walking structure; It will cause scratches on the ground; while the ground adaptability of the wheeled chassis is poor, it is only suitable for a flat ground environment, and it has obvious disadvantages when facing steps and obstacles higher than half the diameter of the wheel

There are also chassis that use multiple sets of wheels and legs to improve its ground adaptability, but the existence of legs greatly weakens the execution speed of the mobile chassis

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