The invention discloses a crawler-type swing-arm all-directional inspection robot moving platform for a large-scale sheep yard, the moving platform comprises a four-swing-arm six-crawler moving chassis, in the process of driving on a common flat road surface of the sheep yard, a swing arm deformation mechanism is kept static, and a main crawler drives the moving platform to move; for the road conditions such as sheep yard bumpy road surfaces, stair steps or drainage ditches, the space-saving three-layer sleeve shaft transmission system drives the swing arm deformation mechanism to lift and rotate, and assists the main crawler belt in completing climbing or crossing actions; in order to avoid the situation that a sheep house passageway is narrow, and the robot is difficult to steer in the inspection process, a steering engine rotating platform is installed above the four-swing-arm six-crawler-belt moving chassis to drive the flip box body to rotate in all directions; a scissor lifting mechanism and a flip mechanism are designed on the flip box body, the operation space and range of equipment such as a mechanical arm, a visual camera, a laser range finder or a temperature sensor carried by the rotating platform subsequently are increased, the equipment and instruments can be protected from being exposed in the external environment for a long time, and the service life of the equipment is prolonged. And the precision and reliability of the robot and the mobile platform are improved.

    本发明公开了一种面向规模化羊场的履带式可摆臂全方位巡检机器人移动平台,所述移动平台包括四摆臂六履带移动底盘,在羊场普通平整路面行驶过程中,摆臂变形机构保持静止,由主履带驱使移动平台运动,面对羊场坑洼路面、楼梯台阶或排水沟渠等路况,节省空间的三层套轴传动系统驱动摆臂变形机构抬升和转动,辅助主履带完成攀爬或翻越动作;为避免羊舍过道较为狭窄,机器人在巡检过程中转向困难,在四摆臂六履带移动底盘上方安装有舵机旋转平台,驱动翻盖箱体全方位转动;翻盖箱体设计了剪叉升降机构和翻盖机构,增加旋转平台后续搭载的如机械臂、视觉相机、激光测距仪或温度传感器等设备作业空间与范围,也能够保护这些装置及仪器不长时间暴露在外部环境中,延长设备使用寿命,提高机器人及移动平台精密性与可靠度。


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    Title :

    Crawler-type swing-arm all-directional inspection robot moving platform for large-scale sheep farm


    Additional title:

    一种面向规模化羊场的履带式可摆臂全方位巡检机器人移动平台


    Contributors:
    BAI FENG (author) / YUAN HAIFENG (author) / QUINZAT (author) / LI JINGBIN (author) / WEN BAOQIN (author) / GUO CHUNCHENG (author) / DU YUFENG (author)

    Publication date :

    2024-08-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR



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