The invention discloses a wheel-foot hybrid mobile robot capable of moving in a complex terrain and a control method thereof, and relates to the field of mobile robots, the wheel-foot hybrid mobile robot comprises a robot body, a telescopic rod, an environment sensing structure and a mobile structure, the environment sensing structure is fixed above the robot body through the telescopic rod, and the mobile structure is located below the robot body. The telescopic motor controls the rack to move downwards through the driving rod, two effects are achieved at the same time, one effect is that the moving wheels are placed below the supporting base to achieve the supporting effect, the other effect is that the auxiliary supporting frame at the bottom of the driving rod extends out of the lower portion of the supporting base to achieve auxiliary supporting, and then the requirement for walking of the mobile robot on the sand is met; the telescopic motor controls the rack to move upwards through the driving rod, the moving wheels are synchronously controlled to be placed on the two sides of the supporting base to serve as moving rolling wheels, the auxiliary supporting frame is folded, and rolling wheel movement of the mobile robot on the common ground is achieved.
本发明公开了一种在复杂地形中移动的轮足混合移动机器人及其控制方法,涉及移动机器人领域,包括机身、伸缩杆、环境感知结构和移动结构,环境感知结构通过伸缩杆固定在机身的上方,移动结构位于机身的下方,该发明中,伸缩电机通过驱动杆控制齿条向下移动,同时实现了两个作用,一个作用是将移动轮放至支撑座下方,来作为支撑作用,另一个作用是将驱动杆底部的辅助支撑架探出支撑座下方,来进行辅助支撑,进而满足了移动机器人在沙地行走的要求;伸缩电机通过驱动杆控制齿条向上移动,同步控制移动轮放至支撑座两侧,作为移动滚轮用,将辅助支撑架收起,实现了移动机器人在普通地面上滚轮移动。
Wheel-foot hybrid mobile robot capable of moving in complex terrain and control method of wheel-foot hybrid mobile robot
在复杂地形中移动的轮足混合移动机器人及其控制方法
27.05.2025
Patent
Elektronische Ressource
Chinesisch
Wheel-foot type mobile platform and wheel-foot type mobile robot
Europäisches Patentamt | 2020
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