The invention discloses a dual-mode mobile robot capable of realizing pose stable operation, which comprises a working part, a carrying platform, a parallel mechanical leg group, a lifting mechanism and a locking device, the working part is a 3-RRCR parallel mechanism, a static platform of the working part is fixedly connected with the carrying platform, and the carrying platform is fixedly connected with the lifting mechanism. A mechanical gripping device can be mounted at the other end of the 3-RRCR parallel mechanism; the parallel mechanical leg set is fixedly installed in the middle of the carrying platform, the lifting mechanism is fixedly connected with the parallel mechanical leg set, suspended below the carrying platform and connected with the carrying platform in a non-fixed mode, and the locking devices are fixedly installed on the two sides of the lifting mechanism and connected with the parallel mechanical leg set in a non-fixed mode. The novel parallel type four-footed ground mobile operation robot has the advantages of being novel in structure, high in automation degree, high in stability, convenient to operate, high in adaptability and the like. The parallel type four-footed ground mobile operation robot can be suitable for field disaster relief and rescue, orchard picking, surveying and mapping and the like in different environments.

    本发明公开了一种可实现位姿稳定作业的双模式移动机器人,包括工作部分、搭载平台、并联机械腿组、升降机构以及锁止装置,其中所述的工作部分为3‑RRCR并联机构,其静平台与搭载平台之间为固定连接,3‑RRCR并联机构另一端可安装机械抓取装置;所述并联机械腿组固定安装在搭载平台中间,所述升降机构与并联机械腿组固定连接且悬浮在搭载平台下方并与其非固定连接,所述锁止装置固定安装在升降机构两侧且与并联机械腿组形成非固定连接。该新型并联式四足地面移动作业机器人具有结构新颖、自动化程度高、稳定性强、操作方便、适应性强等特点,通过本发明的并联式四足地面移动作业机器人能够适用于不同环境下的野外救灾救援、果园采摘、勘测测绘等方面。


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    Title :

    Dual-mode mobile robot capable of realizing stable pose operation


    Additional title:

    一种可实现位姿稳定作业的双模式移动机器人


    Contributors:
    SUN PENG (author) / LI YANBIAO (author) / ZHU YIMING (author) / YANG KUI (author)

    Publication date :

    2022-04-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B25J Manipulatoren , MANIPULATORS



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