Wheel-leg combined type rapid step-climbing chassis suitable for mobile robot

Abstract

Disclosed is a wheel-leg combined type rapid step-climbing chassis suitable for a mobile robot. The top ends of front wheel supporting legs are hinged to the lower portion of the top of a chassis frame, and front walking wheels are arranged at the bottom ends of the front wheel supporting legs; telescopic driving cylinders are horizontally and fixedly arranged on the lower portion of the top of the chassis frame and located behind the front wheel supporting legs, and piston rods face forwards; guide rails are horizontally and fixedly installed on the lower portion of the top of the chassis frame, each telescopic driving cylinder is located at the middle part of two guide rails, sliding blocks are arranged on the guide rails, and the front ends of the piston rods of the telescopic driving cylinders are hinged to the sliding blocks; one ends of connecting rods are hinged to the sliding blocks, and the other ends of the connecting rods are hinged to the middle parts of the front wheel supporting legs; the top ends of rear wheel supporting legs are hinged to the sliding blocks, rear walking wheels are arranged at the top ends of the rear wheel supporting legs, sliding seats are arranged on the rear wheel supporting legs and can linearly move along the rear wheel supporting legs, and the sliding seats are hinged to the chassis frame; an auxiliary supporting wheel is arranged at theforemost end of the chassis frame; in an initial state, the front wheel supporting legs are in a vertical state, and the rear wheel supporting legs are in an inclined state; and distance measuring sensors are arranged at the front parts of the front wheel supporting legs and the rear wheel supporting legs.

Description

technical field [0001] The invention belongs to the technical field of mobile robots, and in particular relates to a wheel-leg compound fast step-up chassis suitable for mobile robots. Background technique [0002] With the continuous development of science and technology, mobile robots are more and more widely used in national production and life, such as various competition robots, handling robots, cleaning robots and service robots, etc., because the terrain in life scenes is not always flat, Higher requirements are put forward for the obstacle-surmounting performance of the robot. [0003] At present, the chassis forms of mobile robots mainly include tracked, wheeled, bionic-legged, wheel-legged and limbless bionics, etc. In many application scenarios, it is very important for mobile robots to have the ability to overcome obstacles. Chassis generally has a complex obstacle-climbing structure, and a complex obstacle-climbing structure will inevitably increase the manufac...

AI Technical Summary

Problems solved by technology

[0003] At present, the chassis forms of mobile robots mainly include tracked, wheeled, bionic-legged, wheel-legged and limbless bionics, etc. In many application scenarios, it is very important for mobile robots to have the ability to overcome obstacles. Chassis forms generally have complex obstacle-crossing structures, and complex obstacle-crossing structures will inevitably increase the manufacturing cost of mobile robots, and will also reduce the practicability of mobile robots

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