公开(公告)号：US11235821B2

公开(公告)日：2022-02-01

申请号：US16976922

申请日：2018-12-31

Applicant: SHENYANG INSTITUTE OF AUTOMATION, CHINESE ACADEMY OF SCIENCES

Inventor： Jinguo Liu ,  Xing Li ,  Jian Ding ,  Yuwang Liu

IPC: B62D55/075 ,  B62D55/065 ,  B62D55/125 ,  B62D55/08

Abstract: A reconfigurable joint track compound mobile robot has a main vehicle body, yaw joints and an auxiliary track module. The main vehicle body has a main track, and a clutch brake and a first wheel joint arranged in a main track driving wheel. A second wheel joint is arranged in a main track driven wheel. The main vehicle body is provided with main track driving mechanisms and a wheel joint driving mechanism. The main track driving wheel is driven to rotate by the main track driving mechanisms, which are connected with the clutch brake. The second wheel joint is driven to rotate by the wheel joint driving mechanism. Each wheel joint is correspondingly connected with the yaw joints, which are rotatably connected with the auxiliary track module. A yaw driving mechanism that drives the auxiliary track module to swing is arranged in each yaw joint.