The invention relates to a mobile robot auxiliary walking mechanism which comprises a supporting arm, a vertical mounting plate, a guide rod and a guide sleeve, the vertical mounting plate is fixedlymounted at the tail of a mobile robot, the front end of the supporting arm is rotatably and fixedly connected with the bottom end of the vertical mounting plate, and the bottom end of the guide sleeveis rotatably and fixedly connected with the rear end of the supporting arm. The top end of the guide rod is rotatably and fixedly connected with the top end of the vertical mounting plate, the guidesleeve sleeves the lower portion of the guide rod, the guide rod and the guide sleeve sleeve the supporting spring, the top end of the guide rod and the bottom end of the guide sleeve can limit and support the top end and the bottom end of the supporting spring respectively, and all components form an elastic triangular supporting mechanism. In the obstacle crossing process, the spring provides overturning moment for the robot to overcome the robot, obstacle crossing of the robot is facilitated, active control over the compression amount of the springs is not needed, the springs passively adapt to the climbing and obstacle crossing processes, system control difficulty is lowered, and the climbing capacity of the robot is improved.
本公开涉及一种移动机器人辅助行走机构,包括支撑臂、竖直安装板、导向杆、导向套筒,竖直安装板固装在移动机器人尾部,支撑臂前端与竖直安装板底端可转动固连,导向套筒底端与支撑臂后端可转动固连,导向杆顶端与竖直安装板顶端可转动固连,导向套筒套装在导向杆下部,导向杆和导向套筒套装支撑弹簧,导向杆顶端和导向套筒底端可分别对支撑弹簧顶端和底端形成限位支撑,各部件形成弹性三角形支撑机构。越障过程中弹簧为机器人提供克服机器人的倾覆力矩,利于机器人越障,无需主动控制弹簧压缩量,其被动适应爬坡、越障过程,降低系统控制难度,提升机器人爬坡能力。
Mobile robot auxiliary walking mechanism
一种移动机器人辅助行走机构
2021-03-12
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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