CN118238912A - Swing arm and wheel track switching robot for crossing - Google Patents

Abstract

The invention belongs to the technical field of robots, and relates to a swing arm and wheel track switching robot for climbing. The swing arm for crossing comprises an outer baffle and an inner baffle, the outer baffle is connected with the inner baffle in a matched manner, one ends of the outer baffle and the inner baffle are rotatably provided with a support rod shaft, a hinge gear is arranged in the middle of the support rod shaft, two ends of the support rod shaft extend out of the outer baffle and the inner baffle, two ends of the support rod shaft are respectively provided with a support rod wheel, the other ends of the outer baffle and the inner baffle are rotatably provided with a hinge inner gear, the hinge gear is connected with the hinge inner gear through a hinge, and a hinge tooth is arranged on the hinge. The invention provides a swing arm for crossing, which comprises a hinge and a stay bar wheel, wherein the hinge is provided with a hinge tooth, the swing arm rotates and can be used for supporting a robot, and the hinge drives the hinge tooth to rotate so as to drag the robot.

Description

Swing arm and wheel track switching robot for crossing

Technical Field

The invention belongs to the technical field of robots, and relates to a swing arm and wheel track switching robot for climbing.

Background

The wheel track switching robot can be switched into a wheel mode on a flat road surface, has a high moving speed, and can quickly reach a destination to finish tasks. When the wheel track robot moves on uneven, rugged or muddy ground, the wheel track robot can be switched into a track mode, the load distributed by the track is larger, better traction force is achieved, and the wheel track robot has advantages for uneven, rugged and wet land, irregular terrains and plants in farmland, mining areas and construction sites during inspection movement. The system can pass through difficult terrains such as rubble, mud, high slope and the like, search survivors or carry rescue materials, can perform tasks such as reconnaissance, material transportation, explosive removal and the like, is suitable for being used in battlefields, dangerous scenes, severe climatic conditions, areas difficult for human beings to reach and the like, and therefore improves the safety and survival rate of personnel. The wheel track switching robot has wide application scenes in the fields of military, anti-terrorism, mining areas, agriculture, exploration, rescue and the like.

The advantages of wheel track switching robots in dealing with complex terrain are significant, however, they also suffer from some limitations and disadvantages including the inability to climb over higher obstacles and the inability to climb higher angles. The track cannot jump over higher obstacles: the track system of a track robot, while providing stable traction and off-road performance, also limits the height of obstacles that it can climb over. Because the movement of the track is a relatively planar process, high obstacles (e.g., stairs, large obstacles) may obstruct the passage of the robot because the track cannot generate enough force to overcome the obstacles in a short time. The tracked robot cannot climb a slope at a high angle, and although the tracked robot is excellent on rough terrain, it may be limited in climbing a steep slope. Because the track must maintain contact with the ground, too steep a grade may cause the track to lose sufficient traction thereon and not continue forward, which limits the ability of the robot to move under certain terrain conditions.

The existing wheel track switching robot generally needs a crawler to have a longer crawler when climbing over an obstacle, the length of the crawler contacting the ground needs to be much larger than the height of the obstacle, and the crawler is lifted by matching with a supporting swing arm to climb over the obstacle after a certain angle is reached. The height of the climbing obstacles is strictly limited by the length of the crawler, so in pure crawler vehicles, such as in stair climbing situations, a longer crawler is usually required to span more than two steps, and miniaturization is not achieved. In the mobile robot switched by the wheel track, the general form of the robot is smaller, so that the length of the track in the tracked vehicle mode is insufficient, the robot cannot climb over higher obstacles, and the prior art cannot always stride over the obstacles with embedded shapes, so that the robot is easy to block and has insufficient escaping capability; when encountering some slopes with larger angles, the crawler cannot advance due to insufficient grabbing force.

In addition, the supporting rods of some wheel track robots are positioned in the middle of the tail ends of the robots and cannot rotate by 360 degrees, and the wheel track robots are only used for downwards twisting when climbing, provide additional torque and supporting force, have limited climbing height and are far smaller than the length of the swing arms. Meanwhile, as the stay bar can only rotate at a small angle, when the stay bar is spread, the gravity center of the wheel track robot can not be positioned at the whole central position all the time, and if the stay bar is used for assisting in turning over a gully, the situation of turning over is easy to occur.

Disclosure of Invention

In order to solve the technical problems, the invention provides a swing arm for climbing and a wheel track switching robot, which can enable the wheel track switching robot to climb higher obstacles under the condition of smaller ground track length. The swing arm of the wheel track switching robot can rotate by 360 degrees, is matched with various movements of the swing arm, is suitable for more scenes, and can also realize the function of helping getting rid of poverty under certain specific conditions.

The technical scheme for solving the problems is as follows: the swing arm for crossing is characterized in that:

comprises an outer baffle and an inner baffle, the outer baffle is connected with the inner baffle in a matching way,

One end of the outer baffle plate and one end of the inner baffle plate are rotatably provided with a supporting rod shaft, the middle part of the supporting rod shaft is provided with a hinge gear, two ends of the supporting rod shaft extend out of the outer baffle plate and the inner baffle plate, two ends of the supporting rod shaft are respectively provided with supporting rod wheels,

The other ends of the outer baffle plate and the inner baffle plate are rotationally provided with a hinge inner gear, the hinge gear is connected with the hinge inner gear through a hinge, and the hinge is provided with a hinge tooth.

Further, the stay bar shaft is mounted on the outer baffle plate and the inner baffle plate through bearings.

Further, an outer baffle hinge inner gear fixing seat is arranged on the outer baffle, an inner baffle hinge inner gear fixing seat is arranged on the inner baffle, and the hinge inner gear is arranged on the inner baffle hinge inner gear fixing seat and the outer baffle hinge inner gear fixing seat through bearings.

Further, a stay bar wheel fixing shaft is arranged on one side of the stay bar wheel, a groove matched with the stay bar shaft is formed in the end portion of the stay bar wheel fixing shaft, and the end portion of the stay bar shaft extends into the groove of the stay bar wheel fixing shaft and is fixed through a screw.

Further, the outer baffle plate is fixedly provided with an outer baffle plate shaft, and the outer baffle plate shaft penetrates through the hinge inner gear and then extends out of the inner baffle plate.

Further, inner baffle fastening columns are arranged on the inner baffle at intervals, screw holes are formed in the end parts of the inner baffle fastening columns, and the outer baffle is fixed with the inner baffle through screws.

Further, the number of the teeth is two, and the two teeth are arranged at intervals.

In addition, the invention also provides a wheel track switching robot which comprises a robot main body, wherein the middle parts of two sides of the robot are respectively provided with the swing arms for crossing, the swing arms are connected to the robot main body through outer baffle shafts,

Each swing arm is driven by two motors, one motor drives the outer baffle shaft to rotate to realize 360-degree rotation of the swing arm, the other motor is connected with a spur gear, the spur gear is meshed with the hinge internal gear to drive the hinge internal gear to rotate, and the hinge and the stay bar wheel are rotated.

The invention also provides a method for the wheel track switching robot to cross ravines, which is characterized by comprising the following steps:

Step 1: the supporting rod wheel of the swing arm at one side of the wheel track switching robot is contacted with the rear plane;

Step 2: the swing arm at the other side starts to rotate forwards until the swing arm contacts a plane opposite to the ravines, and whether the stay bar wheel contacts the plane opposite to the ravines can be confirmed through the feedback of the position information of the motor;

Step 3: when the robot is confirmed to be contacted with a plane, the wheel-track switching robot rotates through the wheels and the stay bar wheels 1 to drive the whole robot to advance, and when the robot advances to the upper part of a gully, the robot main body is suspended at the moment, and the wheels stop rotating;

Step 4: the stay bar wheel continues to rotate to drive the wheel-track switching robot to move forward until the robot straddles the gullies.

The invention also provides another method for the wheel track switching robot to cross the slope obstacle with a large angle, which is characterized by comprising the following steps:

the wheel track switching robot rotates left and right swing arms forwards and simultaneously rotates the hinge to enable the hinge teeth to hook the obstacle, provide dragging force and rotate the crawler belt, so that the wheel track switching robot can cross the obstacle at a large angle slope.

The invention also provides another method for the wheel track switching robot to cross the step type obstacle, which is characterized by comprising the following steps:

Step 1: when the wheel track switching robot contacts an obstacle, the height of the obstacle is calculated through swinging the swing arm upwards, the swing arm props against the obstacle and the ground, the distance between the vehicle and the obstacle is calculated, and whether the vehicle can walk over or not is judged through the height of the obstacle and the distance between the obstacle;

step 2: if the robot is judged to be capable of crossing, the wheel track switching robot moves to the nearest distance of the obstacle, the left swing arm and the right swing arm are rotated until the lower hinge contacts the obstacle, the hinge is rotated to enable the cutter teeth to hook the obstacle to realize dragging, and meanwhile the swing arms rotate to drag and support;

Step 3: until the bottom crawler belt part of the wheel-crawler switching robot reaches a proper position, the crawler belt rotates to realize the forward movement of the vehicle;

step 4: the left swing arm and the right swing arm rotate backwards to support the wheel track switching robot;

step 5: the stay bar wheel and the crawler belt rotate, and finally the wheel-crawler belt switching robot passes over the step obstacle.

The invention also provides another method for passing the wheel-track switching robot on narrow road surfaces with inconsistent heights, and if the heights of the ground surfaces on two sides of the robot wheel set are inconsistent, the robot can stably pass, the method comprises the following steps:

step 1: the motor drives the swing arm at one side with lower ground height to rotate, the robot is supported by the swing arm to reach corresponding height, so that the robot is kept basically horizontal,

Step2: when the crawler belt moves, the stay bar wheel of the swing arm rotates, so that the robot can walk stably finally.

The invention has the advantages that:

1. The invention provides a swing arm for crossing, which comprises a hinge and a stay bar wheel, wherein the hinge is provided with a hinge tooth, the swing arm rotates and can be used for supporting a robot, and the hinge drives the hinge tooth to rotate so as to drag the robot.

2. The invention also provides the wheel track switching robot, two sides of the middle of the wheel track switching robot are respectively provided with the swing arms for climbing over, so that the wheel track switching robot can climb over a slope obstacle with a large angle and a step type higher obstacle, and can climb over a gully, the swing arms can rotate 360 degrees, the FOC motor can accurately provide supporting force of angles in all directions, the teeth on the swing arms can hook a fixed object to provide additional pulling force, the flexibility is greatly increased, the wheel track switching robot can adapt to more scenes, and the function of helping getting rid of the trouble can be realized under certain specific conditions.

Drawings

FIG. 1 is a diagram of a swing arm structure for a walk-over according to the present invention;

FIG. 2 is a view of the hidden outer baffle, brace wheel, screw of FIG. 1;

FIG. 3 is a view of the hidden stay shaft, bearings, hinges, and hinge teeth of FIG. 2;

FIG. 4 is a block diagram of the inside of the outer baffle and the strut wheel;

FIG. 5 is an assembly view of an integrated swing arm and wheel track robot;

FIG. 6 is a diagram of the action of a track robot across a ravine;

FIG. 7 is a flow chart of a track robot across a ravine;

FIG. 8 is a diagram of the action of a track robot traversing a large angle ramp;

FIG. 9 is an action diagram of a track-turning robot traversing a higher obstacle;

FIG. 10 is a general flow diagram of a track-wheel robot traversing a higher obstacle;

Fig. 11 is a diagram showing the operation of the crawler robot on a ground with a non-uniform ground height on both sides.

Wherein:

1. A stay bar wheel; 2. a screw; 3. a screw; 4. an outer baffle; 5. a strut shaft; 6. angular contact ball bearings; 7. a hinge; 8. twisting teeth; 9. a hinge gear; 10. an inner baffle fastening post; 11. a threaded hole; 12. an inner baffle; 13. spur gears; 14. an inner gear of the hinge; 15. an inner baffle hinge inner gear fixing seat; 16. an inner gear fixing seat of the outer baffle hinge; 17. an outer baffle shaft groove; 18. the stay bar wheel fixed shaft.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, are intended to fall within the scope of the present invention. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention.

Examples

Referring to fig. 1 to 4, the present invention proposes a swing arm for climbing, comprising an outer baffle 4 and an inner baffle 12, wherein the outer baffle 4 and the inner baffle 12 are connected in a matching manner; one ends of the outer baffle plate 4 and the inner baffle plate 12 are rotatably provided with a support rod shaft 5, the middle part of the support rod shaft 5 is provided with a hinge gear 9, two ends of the support rod shaft 5 extend out of the outer baffle plate 4 and the inner baffle plate 12, and two ends are respectively provided with a support rod wheel 1; the other ends of the outer baffle plate 4 and the inner baffle plate 12 are rotatably provided with an inner hinge gear 14, the hinge gear 9 and the inner hinge gear 14 are connected through a hinge 7, the hinge 7 is provided with two teeth 8, and the two teeth 8 are arranged at equal intervals.

As a preferred embodiment of the present invention, the strut shaft 5 is mounted on the outer baffle 4 and the inner baffle 12 through a pair of angular contact ball bearings 6, and the strut shaft 5 is rotatably connected to the outer baffle 4 and the inner baffle 12 through the angular contact ball bearings 6.

As a preferred embodiment of the present invention, referring to fig. 3 and 4, the outer baffle 4 is provided with an outer baffle hinged inner gear fixing seat 16, the inner baffle 12 is provided with an inner baffle hinged inner gear fixing seat 15, and the hinged inner gear 14 is mounted on the inner baffle hinged inner gear fixing seat 15 and the outer baffle hinged inner gear fixing seat 16 through bearings.

As a preferred embodiment of the present invention, referring to fig. 4, one side of the strut wheel 1 is provided with a strut wheel fixing shaft 18, an end of the strut wheel fixing shaft 18 is provided with a groove matched with the strut shaft 5, and the end of the strut shaft 5 is fixed by a screw after extending into the groove of the strut wheel fixing shaft 18.

As a preferred embodiment of the present invention, referring to fig. 4, the outer baffle plate 4 is vertically and fixedly provided with an outer baffle shaft 17 at the inner side thereof, and the outer baffle shaft 17 extends out of the inner baffle plate 12 through the hinge inner gear 14.

As a preferred embodiment of the present invention, referring to fig. 3 and 4, the inner baffle plate 12 is provided with inner baffle plate fastening posts 10 at intervals, the end of the inner baffle plate fastening posts 10 is provided with screw holes, the outer baffle plate 4 is provided with screw holes 11, the outer baffle plate 4 is fixed with the inner baffle plate 12 by screws, and the screws sequentially pass through the end of the outer baffle plate 4 provided with screw holes 11 and the inner baffle plate fastening posts 10 and are provided with screw holes. The inner baffle 12 is kept at a distance from the outer baffle 4 by an inner baffle fastening post 10, so that the hinge gear 9, the hinge inner gear 14 and the hinge 7 can be installed in the middle.

In addition, the invention also provides a wheel track switching robot, referring to fig. 5, which comprises a robot main body, wherein the robot main body can adopt a wheel track moving device with a Chinese patent application publication number of CN 103342138A. The middle parts of the two sides of the robot are respectively provided with the above-mentioned swing arms for crossing, and the swing arms are connected to the robot main body through the outer baffle shafts 17. Each swing arm is driven by two motors, one motor drives the outer baffle shaft 17 to rotate to realize 360-degree rotation of the swing arm, the other motor is connected with the spur gear 13, the spur gear 13 is meshed with the hinge internal gear 14 to drive the hinge internal gear 14 to rotate, and the hinge 7 and the supporting rod wheel 1 are rotated.

Referring to fig. 6 and 7, the invention further provides a method for the wheel track switching robot to cross a gully, which comprises the following steps:

Step 1: as shown in fig. 6, the wheel track switching robot is switched to a wheel mode, as shown in fig. 6 (a), when a gully is encountered in front of the wheel track, a stay bar wheel 1 of a swing arm on one side of the wheel track contacts with a rear plane, and whether the swing arm wheel contacts with the opposite plane can be confirmed through the feedback of the position information of a motor;

step 2: when the plane is confirmed, as shown in fig. 6 (b), the swing arm at the other side starts to rotate forward until the swing arm contacts the plane opposite to the ravines, and whether the stay bar wheel 1 has contacted the opposite plane can be confirmed through the feedback of the position information of the motor;

Step 3: when the robot is confirmed to be in contact with the plane, the wheel-track switching robot rotates through the wheels and the stay bar wheels 1 to drive the whole robot to move forward, when the wheel-track is in a state of fig. 6 (c), and when the robot moves forward to the upper part of a gully, the robot main body is suspended, and the wheels stop rotating;

Step 4: as shown in fig. 6 (d), the stay wheel 1 continues to rotate, driving the wheel-track switching robot forward until straddling the ravines.

Referring to fig. 8, the invention further provides another method for the wheel track switching robot to climb over a large-angle slope obstacle, which comprises the following steps:

The wheel track switching robot is in a track mode, the left swing arm and the right swing arm are in consistent angles and are in parallel states, and the wheel track switching robot is used as a pulling or supporting function. When the robot is on a slope with a large inclination angle, the left swing arm and the right swing arm are rotated forwards, and meanwhile, the hinge is rotated, so that the hinge teeth hook the obstacle, drag force is provided, the crawler is rotated, and the wheel-crawler switching robot can climb over the slope obstacle with a large angle.

Referring to fig. 9 and 10, the invention also provides another method for the wheel track switching robot to cross the step type obstacle, which comprises the following steps:

Step 1: when the wheel track switching robot is in a track mode and contacts an obstacle, the height of the obstacle is calculated by swinging the swing arm upwards, the swing arm props against the obstacle and the ground, the distance between the vehicle and the obstacle is calculated, and whether the robot can turn over or not is judged by the height of the obstacle and the distance between the obstacle; when the vehicle needs to cross a higher obstacle, the flow is shown in fig. 9, and when an obstacle which can not pass directly is detected, the included angle theta ₁ between the lower swing arm and the horizontal plane and the length of the lower swing arm are known, so that the distance d ₁ between the main body of the crawler robot and the step can be calculated, the crawler length is d ₂, and the distance d _e between the crawler vehicle and the step is d ₁-d₂. The robot is ready to walk over and continue to walk forward d ₂ distance while the stay rotates counterclockwise, contacts the step, reaches the position of fig. 9 (b), the length of d ₂ is known, the angle of θ ₂ can be measured by the stay, so that the size of h ₂, i.e., h ₂＝d₂*sinθ₂, is found, the step height is h ₂+h₁, and the system can determine whether the step can be traversed by the step height.

Step 2: if yes, entering a dragging mode, as shown in fig. 9 (c), moving the wheel track switching robot to the nearest distance of the obstacle, rotating the left and right swing arms until the lower hinge contacts the obstacle, rotating the hinge 7 to enable the hinge teeth 8 to hook the obstacle to realize dragging, and simultaneously rotating the swing arms to drag and support;

Step 3: until the bottom crawler belt part of the wheel-crawler switching robot reaches a proper position, the crawler belt rotates to realize the forward movement of the vehicle;

Step 4: after a certain height is reached, the stay bars rotate clockwise, as shown in fig. 9 (d), the left and right swing arms rotate backwards, and after the stay bars contact the ground, the stay bars continuously rotate to support the robot.

Step 5: the spreader wheel 1 and the crawler are rotated until the state of fig. 9 (f), at which time the angle of the spreader is also kept uniform as the robot advances because the height of the robot is fixed until the robot has crossed the obstacle.

Referring to fig. 11, the present invention further provides another method for passing the wheel-track switching robot on narrow road surfaces with inconsistent heights, wherein if the heights of the ground surfaces at two sides of the robot wheel set are inconsistent, the method includes the following steps:

step 1: the motor drives the swing arm at one side with lower ground height to rotate, the robot is supported by the swing arm to reach corresponding height, so that the robot is kept basically horizontal,

Step2: when the crawler belt moves, the stay bar wheel of the swing arm rotates, so that the robot can walk stably finally.

In summary, the invention provides a wheel-track switching robot provided with a swing arm, which can identify the terrain which is difficult to pass in front, such as a gully, an obstacle, a large-angle slope and an uneven road surface, through visual or contact sensing. The swing arm performs different actions and functions for different terrains. Facing to gully terrain, the swing arm is used for supporting the robot to climb over; the twisting teeth carried by the swing arms can hook the fixed object to realize the dragging function; the swing arm supports and the dragging are matched to face the obstacle, so that the obstacle can be overturned; the wheel-track switching robot integrates a level gauge facing uneven ground, and the angles of the two swing arms and the horizontal plane can be adjusted, so that the height consistency of wheels at two sides of the wheel-track switching robot is achieved, and the stable advancing of the robot is realized.

The foregoing description is only exemplary embodiments of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes using the descriptions and the drawings of the present invention, or direct or indirect application in other related system fields are included in the scope of the present invention.

Claims (12)

1. A swing arm for use in a roll over, characterized by:

comprises an outer baffle (4) and an inner baffle (12), the outer baffle (4) is connected with the inner baffle (12) in a matching way,

One end of the outer baffle plate (4) and one end of the inner baffle plate (12) are rotatably provided with a brace rod shaft (5), the middle part of the brace rod shaft (5) is provided with a hinge gear (9), two ends of the brace rod shaft (5) extend out of the outer baffle plate (4) and the inner baffle plate (12), two ends of the brace rod shaft are respectively provided with a brace rod wheel (1),

The other ends of the outer baffle plate (4) and the inner baffle plate (12) are rotatably provided with a hinge inner gear (14), the hinge gear (9) is connected with the hinge inner gear (14) through a hinge (7), and the hinge (7) is provided with a hinge tooth (8).

2. The swing arm for a walk-over according to claim 1, wherein:

the stay bar shaft (5) is arranged on the outer baffle plate (4) and the inner baffle plate (12) through bearings.

3. Swing arm for a walk-over according to claim 1 or 2, characterized in that:

The outer baffle plate (4) is provided with an outer baffle plate hinge inner gear fixing seat (16), the inner baffle plate (12) is provided with an inner baffle plate hinge inner gear fixing seat (15), and the hinge inner gear (14) is arranged on the inner baffle plate hinge inner gear fixing seat (15) and the outer baffle plate hinge inner gear fixing seat (16) through bearings.

4. Swing arm for a walk-over according to claim 1 or 2, characterized in that:

One side of the stay bar wheel (1) is provided with a stay bar wheel fixing shaft (18), the end part of the stay bar wheel fixing shaft (18) is provided with a groove matched with the stay bar shaft (5), and the end part of the stay bar shaft (5) stretches into the groove of the stay bar wheel fixing shaft (18) and is fixed through a screw.

5. Swing arm for a walk-over according to claim 1 or 2, characterized in that:

the outer baffle plate (4) is fixedly provided with an outer baffle plate shaft (17), and the outer baffle plate shaft (17) penetrates through the hinge inner gear (14) and then extends out of the inner baffle plate (12).

6. Swing arm for a walk-over according to claim 1 or 2, characterized in that:

The inner baffle plate (12) is provided with inner baffle plate fastening columns (10) at intervals, screw holes are formed in the end parts of the inner baffle plate fastening columns (10), and the outer baffle plate (4) is fixed with the inner baffle plate (12) through screws.

7. Swing arm for a walk-over according to claim 1 or 2, characterized in that:

the number of the twisting teeth (8) is two, and the two twisting teeth (8) are arranged at intervals.

8. The utility model provides a wheel-track switching robot which characterized in that:

Comprises a robot main body, wherein the middle parts of the two sides of the robot are respectively provided with the swinging arms for climbing, the swinging arms are connected to the robot main body through an outer baffle shaft (17),

Each swing arm is driven by two motors, one motor drives an outer baffle shaft (17) to rotate to realize 360-degree rotation of the swing arm, the other motor is connected with a spur gear (13), the spur gear (13) is meshed with an inner hinge gear (14) to drive the inner hinge gear (14) to rotate, and the hinge (7) and the stay bar wheel (1) are rotated.

9. A method for turning over a ravine based on the wheel track switching robot as claimed in claim 8, comprising the steps of:

Step 1: a supporting rod wheel (1) of a swing arm at one side of the wheel track switching robot is contacted with a rear plane;

step 2: the swing arm at the other side starts to rotate forwards until the swing arm contacts a plane opposite to the ravines;

Step 3: when the robot is confirmed to be contacted with a plane, the wheel-track switching robot rotates through the wheels and the stay bar wheels (1) to drive the whole robot to advance, and when the robot advances to the upper part of a gully, the robot main body is suspended at the moment, and the wheels or the tracks stop rotating;

step 4: the stay bar wheel (1) continues to rotate to drive the wheel-track switching robot to move forward until straddling the ravines.

10. A method for traversing a large angle ramp obstacle based on the wheel track switching robot of claim 8, comprising the steps of:

The wheel track switching robot rotates left and right swing arms forwards and simultaneously rotates the hinge, so that the hinge hooks the obstacle to provide a dragging force, and rotates the crawler or wheels to realize that the wheel track switching robot turns over a large-angle slope obstacle.

11. A method for a wheel track switching robot to cross a stepped obstacle based on claim 8, comprising the steps of:

Step 1: when the wheel track switching robot contacts an obstacle, the height of the obstacle is calculated through swinging the swing arm upwards, the swing arm props against the obstacle and the ground, the distance between the vehicle and the obstacle is calculated, and whether the vehicle can walk over or not is judged through the height of the obstacle and the distance between the obstacle;

Step 2: if the robot is judged to be capable of crossing, the wheel track switching robot moves to the nearest distance of the obstacle, the left swing arm and the right swing arm are rotated until the lower hinge contacts the obstacle, the hinge (7) is rotated to enable the hinge teeth (8) to hook the obstacle to realize dragging, and meanwhile the swing arms rotate to drag and support;

Step 3: until the bottom crawler belt part of the wheel-crawler switching robot reaches a proper position, the crawler belt rotates to realize the forward movement of the vehicle;

step 4: the left swing arm and the right swing arm rotate backwards to support the wheel track switching robot;

Step 5: the caterpillar or wheels and the stay bar wheels (1) rotate, and finally the wheel-caterpillar switching robot passes over the step obstacle.

12. A method for passing a narrow road surface with inconsistent heights based on the wheel track switching robot as claimed in claim 8, comprising the following steps:

step 1: the motor drives the swing arm at one side with lower ground height to rotate, the robot is supported by the swing arm to reach corresponding height, so that the robot is kept basically horizontal,

Step 2: when the crawler belt or the wheels move, the stay bar wheels of the swing arms rotate, so that the robot can walk stably finally.