Wheel-track composite mobile platform for complex terrains

Abstract

The invention discloses a wheel-track composite mobile platform for complex terrains. The wheel-track composite mobile platform structurally comprises four wheel-track driving mechanisms, two rocker arm pitching motor assemblies, two wheel driving motor assemblies, two rocker arm pitching bevel gear assemblies, a frame and the like. According to the moving platform, driving of four wheels / tracks is achieved through two motor assemblies, and pitching of four rocker arms is achieved through the two motor assemblies. The wheel driving motor assemblies are symmetrically arranged on the vehicle body, the rocker arm pitching motor assemblies are symmetrically arranged on the vehicle body, and the four wheel-track driving mechanism transmission mechanisms are the same. The wheel-track composite moving platform is driven by the wheel driving motor assembly at constant speed and differential speed, so that the moving platform can advance, retreat, turn and the like. According to the invention, different driving modes (wheel driving, track driving and wheel-track composite driving) are selected according to different terrains, so that the rapid movement of the wheel-track composite mobile platform in the complex terrains is realized.

Description

technical field [0001] The invention relates to a ground mobile platform combined with wheel drive and track drive, which belongs to the technical field of robots and can be used in platforms or devices with mobile function requirements such as industrial equipment, ground robots, and space robots. Background technique [0002] With the development of robot technology, higher and higher requirements are put forward for the mobile robot's terrain adaptability, obstacle surmounting ability, and moving speed. Moving speed. For a mobile robot in an unstructured environment such as the earth's surface, there may be irregular obstacles such as gravel, pits, steep slopes, and jungles in its moving path, which will adversely affect the mobile robot's mobility. For mobile robots on the surface of extraterrestrial planets (moon, Mars, etc.), due to the presence of rocks, craters, soft and easy-to-sink star soil and other harsh terrains on the surface of the planet, it poses a great c...

AI Technical Summary

Problems solved by technology

For a mobile robot in an unstructured environment such as the earth's surface, there may be irregular obstacles such as gravel, pits, steep slopes, and jungles in its moving path, which will adversely affect the mobile robot's mobility

For mobile robots on the surface of extraterrestrial planets (moon, Mars, etc.), due to the presence of rocks, craters, soft and easy-to-sink star soil and other harsh terrains on the surface of the planet, it poses a great challenge to the robot's mobility

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