The invention discloses a multi-mode mobile robot which comprises a support platform, two moving branch chains and two auxiliary branch chains; the auxiliary branch chains and the movable branch chains are integrally distributed in an X shape relative to the support platform; each movable branch chain comprises a first upper rod, a first lower rod and a wheel, one end of the first upper rod is pivoted with the support platform through a revolute pair I, the other end of the first upper rod is pivoted with one end of the first lower rod through a revolute pair II, and the other end of the firstlower rod is connected with the wheel; each auxiliary branch chain comprises a second upper rod, second lower rods and a tail rod, one end of the second upper rod is pivoted with the support platformthrough a rotating pair III, the other end of the second upper rod is pivoted with one ends of the two second lower rods through a rotating pair IV, and the other ends of the two second lower rods are pivoted with the tail rod through a rotating pair V; and the revolute pair I, the revolute pair II, the revolute pair III, the revolute pair IV, the revolute pair V and the wheels are driven by independent driving pieces. The robot has the advantages of high moving speed, excellent obstacle crossing capability and good application prospect.
本发明公开了多模式移动机器人,包括支架平台、两移动支链和两辅助支链;辅助支链和移动支链相对支架平台整体呈X形分布;移动支链包括第一上杆、第一下杆及车轮,第一上杆的一端与支架平台通过转动副I枢接,第一上杆的另一端与第一下杆的一端通过转动副II枢接,第一下杆的另一端连有车轮;辅助支链包括第二上杆、第二下杆及末杆,一第二上杆的一端与支架平台通过转动副III枢接,第二上杆的另一端与两根第二下杆的一端通过转动副IV枢接,两根第二下杆的另一端与末杆通过转动副V枢接;转动副I、转动副II、转动副III、转动副IV、转动副V及车轮均通过独立驱动件驱动。本发明的机器人兼具高移动速度和优秀越障能力,应用前景好。
Multi-mode mobile robot
一种多模式移动机器人
2020-04-21
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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