The six-wheel leg composite mobile operation robot comprises a body and six mechanical legs, a control system used for controlling the robot and single-leg steering motors of the six legs are installed on the body, and the six mechanical legs are identical in structure and distributed on the front portion, the middle portion and the rear portion of the body. And two tools capable of realizing an operation function are additionally arranged at the tail ends of the two front legs. Each mechanical leg comprises a wheel, a wheel driving motor, a shank connecting rod, a first knee hinge, a second knee hinge, a thigh connecting rod, a first shank transmission connecting rod, a second shank transmission connecting rod, a shank transmission hinge, a shank driving motor, a thigh driving motor and a leg root support. The six-wheel-leg composite mobile operation robot with the leg and arm multiplexing function has the leg and arm multiplexing function, inherits the good maneuvering characteristics of a six-wheel-leg robot and can meet the movement and operation requirements under the complex terrain condition.
本发明一种腿臂复用的六轮腿复合移动作业机器人,包括本体及六条机械腿,其中:本体上安装用于控制机器人的控制系统以及六条腿的单腿转向电机,六条机械腿结构完全相同,分布在本体的前部、中部和后部,在两前腿末端加装有两个可以实现作业功能的工具。所述的机械腿包括:车轮、车轮驱动电机、小腿连杆、第一膝部铰链、第二膝部铰链、大腿连杆、第一小腿传动连杆、第二小腿传动连杆、小腿传动铰链、小腿驱动电机、大腿驱动电机、腿根支架。本发明所提供的一种腿臂复用的六轮腿复合移动作业机器人具有腿臂复用的功能,同时继承了六轮腿机器人良好的机动性能,可以满足在复杂地形条件下的运动与作业需求。
Six-wheel-leg composite mobile operation robot with reusable legs and arms
一种腿臂复用的六轮腿复合移动作业机器人
2022-11-04
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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