The invention discloses a wheel-legged mobile platform which comprises a main vehicle body and two wheel-legged walking parts, the main vehicle body comprises a base frame, a lead screw type linear sliding table, two side rockers and two connecting rods. The lead screw type linear sliding table is connected with a base frame of the main vehicle body, and the middle of the swing rod is connected with a sliding table body of the lead screw type linear sliding table in a pivoted mode. Rocker shafts of the two side rockers are pivotally connected with the two sides of the base frame respectively; two ends of the connecting rod are respectively connected with the side rocker and the swing rod through ball pairs; the wheel-leg type walking part comprises a walking part frame, supporting legs, damping elements and driving wheels, and the walking part frame is connected with a rocker shaft of the main vehicle body; the two supporting legs are hinged to the walking part frame, gears at the upper ends of the two supporting legs are meshed, the damping element is connected with the two supporting legs, and the driving wheels are arranged at the lower ends of the supporting legs. The invention further provides an inspection robot using the wheel-legged mobile platform. The wheel-legged mobile platform and the inspection robot have good terrain adaptability, trafficability and stability.
本发明公开了一种轮腿式移动平台,其包括主车体和两个轮腿式行走部;主车体包括基架、丝杆式直线滑台、两个侧摇杆、两个连杆;丝杆式直线滑台与主车体的基架相连,摆杆的中部与丝杆式直线滑台的滑台可枢转地相连;两个侧摇杆的摇杆轴分别与基架的两侧可枢转相连;连杆两端分别以球副与侧摇杆、摆杆相连;轮腿式行走部包括行走部架、支腿、阻尼元件、驱动车轮,行走部架与主车体的摇杆轴连接;两个支腿与行走部架铰接,且两个支腿上端的齿轮相啮合,阻尼元件与两个支腿相连,驱动车轮设于所述支腿下端;本发明还提出一种使用了轮腿式移动平台的巡检机器人;轮腿式移动平台及巡检机器人具有良好的地形适应性、通过性与稳定性。
Wheel-legged mobile platform and detection inspection robot with same
轮腿式移动平台及具有其的探测巡检机器人
2022-09-20
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge / B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / F16D COUPLINGS FOR TRANSMITTING ROTATION , Nicht schaltbare Kupplungen |
Wheel-legged mobile platform, operation mode switching method and wheel-legged robot
European Patent Office | 2022
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