A wheel-leg composite fast step-up chassis suitable for mobile robots

Abstract

A wheel-and-leg compound fast step-up chassis suitable for mobile robots. The top of the front wheel outrigger is hinged under the top of the chassis frame, and the front travel wheel is set at the bottom of the front wheel outrigger; the telescopic drive cylinder is horizontally fixed on the top of the chassis frame. Below, the telescopic drive cylinder is located behind the front wheel outrigger with the piston rod facing forward; the guide rails are fixed horizontally under the top of the chassis frame, the telescopic drive cylinder is located in the middle of the two guide rails, the slider is set on the guide rails, and the front end of the piston rod of the telescopic drive cylinder It is hinged on the slider; one end of the connecting rod is hinged on the slider, and the other end is hinged on the middle of the front wheel leg; On the rear wheel outrigger and can move straight along the rear wheel outrigger, the sliding seat is hinged on the chassis frame; the front end of the chassis frame is equipped with auxiliary support wheels; in the initial state, the front wheel outrigger is in an upright state, and the rear wheel outrigger In the tilted state; distance measuring sensors are installed on the front of the front and rear wheel outriggers.

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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