The invention discloses a wheel-arm cooperative movement and operation robot. A differential mechanism is arranged in a robot body to achieve pitching differential motion between main rocker arms on the left side and the right side and body posture adjustment. Main rocker arms on the two sides of the differential mechanism are connected with auxiliary rocker arms, and spring-dampers are installed between the two rocker arms to form leg parts. Each leg part is provided with a driving wheel and a driven wheel; the driving wheel realizes advancing driving and differential steering; the driven wheel provides auxiliary support, and the rapid moving capacity of the robot in the complex terrain is improved through the spring-damper. Two mechanical arms are further installed on the two sides of the body part and matched with tools in a tool box on the body part through a quick disassembly mechanism, and quick replacement of the mechanical arm tail end executors is achieved. When the robot encounters an obstacle, the robot can form a crawling posture by controlling the pitching angle of the body part, so that the mechanical arm is matched with the bottom surface, and crawling obstacle crossing is realized in combination with advancing of the driving wheels. According to the robot, the functions of wheel traveling, wheel-arm cooperative traveling, damping suspension, vehicle body pitching, cooperative operation and the like can be integrated.
本发明公开一种轮臂协同移动及作业机器人,机器人身部中设置差速机构实现左右两侧主摇臂之间的俯仰差动以及身部姿态调整。差速机构两侧主摇臂连接副摇臂,两者间安装弹簧‑阻尼器形成腿部;每条腿部具有一个主动轮与一个被动轮;主动轮实现行进驱动以及差速转向;被动轮提供辅助支撑,且通过弹簧‑阻尼器提高机器人在复杂地形中的快速移动能力。身部两侧还安装有两条机械臂通过快拆机构配合身部上的工具箱内工具,实现机械臂末端执行器的快速更换。当机器人遇到障碍时,可通过控制身部俯仰角度形成爬行姿态,使机械臂与底面间配合,结合主动轮行进实现爬行越障。本发明机器人可实现融合轮行、轮臂协同行走、阻尼悬架、车体俯仰、协同操作等功能。
Wheel-arm cooperative movement and operation robot
一种轮臂协同移动及作业机器人
2024-05-03
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge / B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / B64G Raumfahrt , COSMONAUTICS |
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