The invention relates to the field of mobile robots, in particular to a lifting switching wheel-crawler type mobile device and a wheel-crawler type obstacle crossing robot comprising the lifting switching wheel-crawler type mobile device. The moving device comprises a chassis frame, a crawler-type moving assembly, a wheel-type moving assembly, a wheel-crawler switching assembly and a damping assembly, the wheel-type moving assembly comprises Mecanum wheels, and the crawler-type moving assembly and the wheel-type moving assembly are symmetrically arranged on the two sides of the chassis frame; the wheel-track switching assembly comprises a sliding rail mechanism, a traction mechanism and a rocker mechanism, the sliding rail mechanism is fixedly connected with the chassis frame, the middle of the traction mechanism is slidably connected with the sliding rail mechanism, and the two ends of the traction mechanism are connected with Mecanum wheels through connecting rods and the rocker mechanism respectively. The robot adopts a wheel type and crawler type combined moving mode, so that the robot can overcome various rugged terrains, the flexibility of the robot is ensured, and the robot has stable obstacle crossing ability.
本发明涉及移动机器人领域,尤其涉及一种升降切换轮履式移动装置和包括该装置的轮履式越障机器人。该移动装置包括底盘架、履式移动组件、轮式移动组件、轮履切换组件和减震组件,其中,所述轮式移动组件包括麦克纳姆轮,所述履式移动组件和轮式移动组件对称设置于所述底盘架两侧,所述轮履切换组件包括滑轨机构、牵引机构和摇杆机构,所述滑轨机构与所述底盘架固定连接,所述牵引机构的中部与所述滑轨机构滑动连接,两端通过连杆和所述摇杆机构分别与麦克纳姆轮连接。该机器人采用轮式和履式相结合的移动方式,使机器人能够克服各种崎岖地形,既保证了机器人的灵活性,又使其具有平稳越障能力。
Lifting switching wheel-track type moving device
升降切换轮履式移动装置
2024-01-02
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Different-direction deformation wheel-track switching variant wheel
European Patent Office | 2023
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