The invention discloses a wheel-tracked mobile robot based on Mecanum wheels. The mobile robot comprises four Mecanum wheels, four track leg mechanisms, a vehicle body, four main driving mechanisms, four track leg swinging mechanisms and the like, is an important part of a ground mobile robot, a has the characteristics of small size, light weight, and long working time, and is often used for earthquake rescue, investigation and detection and the like. The mobile robot has multiple movement modes of wheel type, crawler type and crawler and leg combined type, front and rear crawler legs can swing by 360 degrees, the front and rear crawler legs can also serve as driving systems, and the proper movement modes can be switched according to terrains, so the mobile robot can adapt to more complex terrains and narrower spaces.

    本发明公开了一种基于麦克纳姆轮的轮履式移动机器人,其包括该四个麦克纳姆轮,四个履带腿机构,车体,四个主驱动机构,四个履带腿摆动机构等,该类型机器人是地面移动机器人中的一个重要部分,由于具备体积小,重量轻,工作时间长的优点,经常被用于地震救援和侦查探测等方面,该移动机器人具有轮式、履带式、履带与腿复合式多种运动方式,前后履带腿可进行360度摆动,前后也均可做驱动系统,并且可以根据地形来切换适合的运动方式,因此该移动机器人可以适应更复杂的地形、更狭窄的空间。


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    Title :

    Wheel-tracked mobile robot based on Mecanum wheels


    Additional title:

    一种基于麦克纳姆轮的轮履式移动机器人


    Contributors:
    CHEN ZHIGAO (author) / HU SHICHENG (author) / LI XINQI (author)

    Publication date :

    2022-02-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60B VEHICLE WHEELS , Räder für Fahrzeuge / B62D MOTOR VEHICLES , Motorfahrzeuge



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