The invention discloses a walking mechanism system and method for a photovoltaic intelligent cleaning robot, and the system is characterized in that a foot part of a wheel-foot composite mechanism adopts a planar linkage mechanism, is provided with three joints, is formed according to a side swing-pitching-pitching configuration sequence, and comprises three active joint degrees of freedom and three self-adaptive degrees of freedom; each supporting foot comprises a vacuum generator, a vacuum suction cup and a safety valve. Through a robot wriggling gait control method and a robot wheel-foot composite movement strategy planning method, the adaptability of the cleaning robot is improved, and the cleaning efficiency and intelligence are improved.

    本发明公开了一种光伏智能清扫机器人的行走机构系统及方法,轮足复合机构的足部采用平面连杆机构,具有三个关节,以侧摆‑俯仰‑俯仰的配置顺序构成,包括3个主动关节自由度和3个自适应自由度;支撑足包括真空发生器、真空吸盘和安全阀;通过机器人蠕动步态控制方法和机器人轮足复合移动策略规划方法提高了清扫机器人的适应性,促进了清扫效率和智能化。


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    Title :

    Walking mechanism system and method of photovoltaic intelligent cleaning robot


    Additional title:

    一种光伏智能清扫机器人的行走机构系统及方法


    Contributors:
    GAO JIE (author) / YAN HONG (author)

    Publication date :

    2023-07-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    H02S GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRA-RED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, E.G. USING PHOTOVOLTAIC [PV] MODULES , Erzeugung elektrischer Energie durch Umwandlung von Infrarot-Strahlung, sichtbarem Licht oder ultraviolettem Licht, z.B. unter Verwendung von Photovoltaik [PV]-Modulen / B62D MOTOR VEHICLES , Motorfahrzeuge



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