Wheel and crawler composite type walking robot

Abstract

The invention discloses a wheel and crawler composite type walking robot which comprises a chassis, a first walking mechanism, a second walking mechanism and a climbing mechanism; the first walking mechanism comprises a front crawler wheel, a back crawler wheel, a first crawler which is in transmission connection with the front crawler wheel and the back crawled wheel, a first driving mechanism for driving the front crawler wheel or the back crawler wheel to rotate; the second walking mechanism comprises a driving wheel and a second driving mechanism for driving the driving wheel to rotate; the climbing mechanism comprises a swing arm and a third driving mechanism for driving the swing arm to rotate; a third walking mechanism is arranged on the swing arm and comprises an upper crawler wheel and a lower crawler wheel which are installed at the upper and lower ends of the swing arm respectively, a second crawler which is in transmission connection with the upper crawler wheel and the lower crawler wheel, and a fourth driving mechanism for driving the upper crawler wheel or the lower crawler wheel to rotate. The wheel and crawler composite type walking robot is stable in operation, high in operation speed, capable of smoothly climbing barriers and suitable for walking at different terrains.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a wheel-track compound walking robot. Background technique [0002] Existing walking robots mainly include two types: 1. Ordinary wheeled robots. The moving mechanism is composed of wheels under the chassis. This type of drive can make the robot move at high speed, with high flexibility and excellent load-bearing characteristics. Free combination of wheels can be realized, increasing the number of wheels can carry greater weight, such as millipedes in real life, transporting large building materials; 2, crawler robots, crawlers can greatly increase the contact area between the robot and the ground , so that the robot runs more smoothly, and the adaptability of the track can be well utilized in the face of rough terrain, and the track can be deformed to closely fit the rough ground. [0003] However, the above two types of walking robots have certain defects. Wheeled robots are pr...

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Problems solved by technology

[0003] However, the above two types of walking robots have certain defects. Wheeled robots are prone to unstable center of gravity when facing changeable terrain, while crawler robots are also relatively heavy in weight, which is difficult when climbing stairs. The requirements of the motor are very high, and the walking speed is relatively slow

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