Lifting switching wheel-crawler type moving device and wheel-crawler type obstacle crossing robot

• Main Authors: ZHENG ZHUOMING, PENG SHURONG, LIN GUANGZHENG, ZHONG SILIN, LI ZHIWEI, ZHAO QIHANG, YANG HAOCHENG
• Format: Patent
• Language: Chinese; English
• Published: 19.07.2024
• Subjects: LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS; MOTOR VEHICLES; PERFORMING OPERATIONS; TRAILERS; TRANSPORTING

The utility model 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.