A two-wheel-leg-track compound mobile mechanism

Abstract

The invention relates to the technical field of specialized robots, in particular to a two-wheel-leg-caterpillar band compound type movement mechanism. The two-wheel-leg-caterpillar band compound typemovement mechanism comprises a movement seat body, walking wheels, swing leg drive mechanisms and swing leg assemblies. The two walking wheels are installed at the left end and the right end of the movement seat body. Walking wheel drive motors are arranged in the walking wheels. The swing leg assemblies are arranged on the front side and the rear side of the movement seat body. The two swing legdrive mechanisms are arranged on the movement seat body. The swing leg assemblies on the two sides of the movement seat body are driven by the different swing leg drive mechanisms to swing. The swingleg assemblies located on the same side of the movement seat body are connected through a swing leg drive shaft. The swing leg drive shafts are driven by the swing leg drive mechanisms to rotate anddrive the swing leg assemblies to swing. The swing leg assemblies are provided with caterpillar bands. When the walking wheels make contact with the ground to rotate, the caterpillar bands leave the ground, and when the caterpillar bands make contact with the ground to rotate, the walking wheels leave the ground. The problems that an existing robot movement mechanism is poor in maneuvering flexibility, low in movement efficiency and the like on a complex terrain are solved.

Description

technical field [0001] The invention relates to the technical field of special robots, in particular to a two-wheel-leg-track compound moving mechanism. Background technique [0002] In the prior art, for some complex terrain environments in the city, such as stairs, obstacles, deep ditches and ramps, etc., the mobile mechanism of most robots still uses a single mobile mechanism such as wheels, tracks or legs, and a few use Compound mobile mechanisms such as wheel-track, leg-track or wheel-leg-track, in which the passability of a single mobile mechanism is far inferior to that of a composite mobile mechanism, and in the compound mobile mechanism, the wheel-leg-track composite mobile mechanism The comprehensive passing ability is the best. [0003] In the prior art, the most widely used four-wheel-drive wheel-leg-track composite mobile mechanism, but this kind of composite mobile mechanism also has defects, such as insufficient mobility, low mobile efficiency, etc., mainly b...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a two-wheel-leg-track compound mobile mechanism, which can be applied to mobile robot platforms in various complex urban environments for detection, reconnaissance, sampling and handling, and effectively solves the problem of existing robot movement. Insufficient maneuverability and low movement efficiency of the mechanism for complex terrain

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