The invention belongs to the technical field of industrial mechanical devices, and particularly relates to a multi-wheel-leg mobile robot for a complex environment. Wherein a four-axis precision mechanical arm is arranged on the shell, a mechanical leg mechanism is arranged in the four-axis precision mechanical arm, a mechanical arm support is connected to a mechanical arm chassis, a mechanical claw driving motor is fixed in a connecting frame, and a driving shaft of the mechanical claw driving motor is connected with a triangular support; fingers are respectively arranged in front of and behind the connecting frame; the right sides of the fingers are connected with a driving shaft of a paw driving motor through a screw push plate; the mechanical arm big arm is connected to the mechanical arm support and connected with the big and small arm driving motor, and the small arm driving motor is connected with the motor swing shaft rod; a motor swing shaft rod is connected with a first pull rod, the first pull rod is connected to a small arm of the mechanical arm, a second pull rod is connected to a supporting rod, the top of the second pull rod is connected to a tripod, and the tripod is connected with a third pull rod which is connected to a triangular support. The robot combines the advantages of the two moving modes, has the efficiency and speed of a wheeled robot, and also has the capacity of a legged robot to pass through complex terrains.
本发明属于工业机械装置技术领域,具体涉及一种复杂环境多轮腿移动机器人;其中壳体上设有四轴精密机械臂,其内设有机械腿机构,机械臂支架连接在机械臂底盘上,机械爪驱动电机固定在连接架内,其驱动轴与三角支架连接;连接架前后分别有手指,手指右侧通过螺杆推板与手爪驱动电机驱动轴连接在;机械臂大臂连接在机械臂支架上,且其与大小臂驱动电机连接,其中小臂驱动电机与电机摆轴杆连接;电机摆轴杆与拉杆一连接,拉杆一连接在机械臂小臂上,拉杆二连接在支撑杆上,顶部连接在三角架上,三角架与拉杆三连接,拉杆三连接在三角支架上;本发明结合了以上两种移动方式的优点,既有轮式机器人的效率和速度,也有腿式机器人穿越复杂地形的能力。
Multi-wheel-leg mobile robot for complex environment
一种复杂环境多轮腿移动机器人
2023-10-13
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Four-wheel mobile robot chassis and four-wheel mobile robot
Europäisches Patentamt | 2020
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