The invention relates to the technical field of ground mobile robots, in particular to an omni-directional wheel-track composite self-adaptive switching mobile robot and a working method.The omni-directional wheel-track composite self-adaptive switching mobile robot comprises a mobile body assembly, a first track module, four sets of second swing arm track modules and a wheel-track switching assembly connected with the second swing arm track modules; and the wheel train assembly is connected with the wheel-track switching assembly. The wheel track switching assembly comprises a lifting module, a swing direction adjusting mechanism and a steering adjusting mechanism, the lifting module is fixedly connected to the second swing arm track module, the lifting module is in sliding connection with the swing direction adjusting mechanism, the swing direction adjusting mechanism is fixedly connected with the steering adjusting mechanism, and the bottom of the steering adjusting mechanism is connected with the wheel train assembly. The self-adaptive switching of the crawler belt and the wheel type moving mechanism is realized, the height adjustment of the moving body assembly can also be realized, the climbing and obstacle crossing performance and higher loading capacity in a complex non-structural ground environment can be considered, and the high-speed, low-resistance, flexible and omnidirectional moving capacity in a structural road environment can also be considered.

    本发明涉及地面移动机器人技术领域,具体涉及一种全向轮履复合自适应切换的移动机器人及工作方法,包括移动本体组件、第一履带模组、四套第二摆臂履带模组,与第二摆臂履带模组连接的轮履切换组件,与轮履切换组件连接的轮系组件。轮履切换组件包括升降模组、摆向调整机构、转向调节机构,升降模组固定连接于第二摆臂履带模组上,升降模组与摆向调整机构滑动连接,摆向调整机构与转向调节机构固定连接,转向调节机构的底部与轮系组件连接。实现履带、轮式移动机构的自适应切换,还可实现移动本体组件高度调整,既能兼顾在复杂非结构性地面环境中爬坡越障性能和较高的载荷能力,也能兼顾在结构性路面环境中的高速、低阻、灵活和全向的运动能力。


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    Title :

    Omnidirectional wheel-track composite self-adaptive switching mobile robot and working method


    Additional title:

    全向轮履复合自适应切换的移动机器人及工作方法


    Contributors:
    GUO TINGTING (author) / MA YIKAI (author) / LIU XIUYAN (author) / HAN HUAWEI (author) / BAO WEI (author) / ZHANG XU (author)

    Publication date :

    2023-07-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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