A walking type farmland moving platform robot comprises a moving platform in the center, first alternate progressive mechanisms symmetrically arranged on the left side and the right side of the moving platform, a rotation driving device connected with the ends of the first alternate progressive mechanisms, supporting legs connected with the output end of the rotation driving device, and wheels fixedly connected with the lower ends of the supporting legs and provided with brakes. The walking stride is determined by the alternating progressive mechanism A which independently acts; the alternating progressive mechanism A and the rotation driving device are matched to act; the instantaneous horizontal speed of the transverse moving wheel of the alternating progressive mechanism A and the horizontal component speed of the instantaneous linear speed of the deflection wheel of the rotation driving device are equal in magnitude and opposite in direction; the resultant speed of the wheels is only the vertical lifting speed; the two processes are carried out alternately, and the wheels can be ensured to stride a proper stride and vertically enter and exit a farmland; the wheels are divided into two groups which are alternately matched with each other; when one group of wheels is used as a support, the other group of wheels walk, so that the purpose that the movable platform flexibly moves to enter a farmland without rolling crops is achieved.
一种行走式农田移动平台机器人,包括中心的移动平台、对称设置在移动平台左右两侧的交替递进机构甲、与交替递进机构甲端部相连的转动驱动装置、与转动驱动装置输出端相连的支腿、与支腿下端固连的带有刹车的轮子;单独动作的交替递进机构甲决定行走的步幅;交替递进机构甲、转动驱动装置配合动作;交替递进机构甲横移轮子的瞬时水平速度与转动驱动装置偏转轮子的瞬时线速度的水平分速度大小相等,方向相反;轮子的合速度只有竖向升降速度;两个过程交替进行,轮子就能保证跨出合适步幅和竖向进出农田;各个轮子分成两组相互交替配合;一组轮子作为支撑时,另一组轮子进行行走,实现移动平台动作灵活地进入农田而不倾轧作物的目的。
Walking type farmland mobile platform robot
行走式农田移动平台机器人
2022-04-05
Patent
Electronic Resource
Chinese
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