The invention discloses an obstacle-crossing carrying method of a load-carrying robot, which is realized through the load-carrying robot, the load-carrying robot comprises a load-carrying platform, supporting legs at the bottom of the load-carrying platform are arranged in pairs and are arranged in multiple groups from front to back along the load-carrying platform, each supporting leg comprises a rotating joint, a swinging joint and a telescopic joint which are connected in sequence, the rotating joint is rotatably connected with the load-carrying platform, and the swinging joint is rotatably connected with the load-carrying platform. The swinging joint is connected with the rotating joint through a horizontal rotating shaft, the telescopic joint is arranged at the tail end of the swinging joint, and the walking wheel is arranged at the tail end of the telescopic joint; the obstacle-crossing carrying method comprises the steps that the control unit obtains a path instruction, the walking wheels drive the load-carrying robot to advance, and when the load-carrying robot encounters an obstacle, obstacle-crossing walking or steering walking is selected according to image information collected by the camera. The walking direction can be conveniently changed, obstacles can be easily crossed through the multiple sets of matched rotatable, offset and telescopic supporting legs, the limitation that large equipment cannot work in a limited space and complex site is overcome, and heavy equipment can be easily carried.
本发明公开了一种载重机器人跨障碍搬运方法,通过载重机器人实现,其包括载重平台,其底部的支腿成对设置并沿载重平台从前到后设置有多组,每一支腿均包括依次相连的旋转节、摆动节和伸缩节,旋转节与载重平台转动相连,摆动节与旋转节通过水平转轴相连,伸缩节设置在摆动节的末端,且伸缩节的末端设置有行走轮;所述跨障碍搬运方法,包括:控制单元获取路径指令,使行走轮带动载重机器人前进,遇到障碍时,根据摄像头采集的图像信息选择跨越障碍行走或者转向行走。本发明可以方便地改变行走方向,通过多组配合的可旋转、偏移和伸缩的支腿,轻松跨越障碍,克服有限空间复杂场地内大型设备无法工作的限制,轻松实现重型设备的搬运。
Obstacle-crossing carrying method of load-carrying robot
载重机器人跨障碍搬运方法
2024-11-29
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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