The invention discloses a wheel-track-leg combined type mobile robot which comprises a chassis, and a track mechanism, a wheel type mechanism and a form switching mechanism are arranged on the chassis. The form switching mechanism comprises swing arm motors installed at the four corners of the chassis, and an output shaft of each swing arm motor is fixedly connected with a crawler mechanism through a transmission mechanism. The robot is high in form switching speed, obviously improved in terrain adaptability, outstanding in obstacle crossing ability, low in energy consumption and obviously improved in maneuverability, independent pure crawler-type movement, independent pure wheel type movement and independent leg type movement can be achieved, energy consumption is reduced, and meanwhile, different working modes are switched, so that the robot is high in adaptability to the terrain, high in obstacle crossing ability and low in energy consumption. The robot has the advantages of mobile robots in various forms, is suitable for serving as an exploration robot to complete exploration work or reconnaissance work, and can draw terrain work by additionally arranging a camera, a plotter and the like.
本发明公开了一种轮‑履‑腿复合式移动机器人,包括底盘,所述底盘上具有履带机构、轮式机构和形态切换机构;所述形态切换机构包括安装于底盘四角的摆臂电机,每个摆臂电机的输出轴均通过传动机构固定连接有履带机构。本发明形态切换速度快并且对地形的适应性显著提高,越障能力出众,能耗低,并且在机动性方面的性能有明显提高,能够实现独立的纯履带式运动、独立的纯轮式运动以及独立的腿式运动,节省能耗同时,经过切换不同的工作模式,具备了各种形态下移动机器人的优点,适合作为探索形机器人,完成探索工作或者侦察工作,加装摄像头,绘图仪等可以进行绘制地形工作。
Wheel-track-leg combined type mobile robot
一种轮-履-腿复合式移动机器人
2022-08-09
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |