A wheel-track-leg combined type mobile robot belongs to the technical field of mobile robots and comprises a robot body module, a left joint module, a right joint module, a left walking module and a right walking module. The left joint module and the right joint module are arranged on the left and right sides of the fuselage module in mirror symmetry; the left walking module is connected with the left joint module; and the right walking module is connected with the right joint module. A crawler walking mode, a wheel type walking mode and a leg type walking mode can be achieved, obstacle crossing and stair climbing can be achieved through deformation in the crawler walking mode, and meanwhile movement mode conversion is achieved through form switching; the advantages of a traditional wheel type mobile robot, a crawler type mobile robot and a leg type mobile robot are effectively considered, meanwhile, the corresponding defects are overcome, and when facing different terrains, the robot can be switched to the most suitable form and pass through a target site in the optimal movement mode, so that the robot is more convenient to use. The robot has the comprehensive effects of high moving speed, high obstacle crossing capability, simple structure, simplicity in control and the like.

    一种轮‑履‑腿复合式移动机器人,属于移动机器人技术领域,包括机身模块、左关节模块、右关节模块、左行走模块及右行走模块;左关节模块和右关节模块镜像对称设置在机身模块左右两侧;左行走模块与左关节模块相连;右行走模块与右关节模块相连。本发明能够实现履带行走模式、轮式行走模式和腿式行走模式,在履带行走模式下能够通过变形实现越障和爬楼梯,同时通过形态的切换实现运动模式的转换,有效兼顾了传统的轮式移动机器人、履带式移动机器人及腿式移动机器人的各自优点,同时克服了相应缺点,在面对不同的地形时,能够切换至最合适的形态并以最优运动模式通过目标场地,具有移动速度快、越障能力强、结构简单、控制简单等综合效果。


    Access

    Download


    Export, share and cite



    Title :

    Wheel-track-leg combined type mobile robot


    Additional title:

    一种轮-履-腿复合式移动机器人


    Contributors:
    LU ZHIGUO (author) / WAN RUIJUN (author) / XIAO HAOYU (author) / CHEN XIYIN (author)

    Publication date :

    2024-06-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



    Wheel-track-leg combined type mobile robot

    SUN HAO / CHEN KAI / ZHU ZICHENG et al. | European Patent Office | 2022

    Free access

    Wheel-track combined type mobile robot chassis

    WANG HONGCHENG / BAI ZIHAO / ZHANG LINAN et al. | European Patent Office | 2023

    Free access

    Wheel-track combined type mobile stair climbing robot

    ZHAO YANZHI / XUAN SHIYU / WANG HAO et al. | European Patent Office | 2021

    Free access

    Deformable wheel-track combined type mobile robot for soft and bumpy terrains

    ZHANG MAORONG / LI RUIQIN / ZHANG PEIHAN et al. | European Patent Office | 2025

    Free access

    Wheel-track combined type transformable wheel

    HAN DONGRU / ZHANG YUANYUAN / LI KE et al. | European Patent Office | 2022

    Free access