The invention discloses a multi-source cooperative rocker arm-tracked robot composite mechanical structure for earthquake search and rescue, and belongs to the technical field of intelligent rescue equipment. A rocker arm-crawler belt-wheel three-dimensional motion structure system is innovatively designed, a multi-degree-of-freedom rocker arm structure driven by a steering engine is adopted in the middle of the robot, and a double-crawler belt differential driving module driven by a motor is arranged at the bottom of the robot; a swing arm balance wheel set is arranged on the front portion to assist climbing operation. According to the composite structure, a posture stability control algorithm is established through a mass center dynamic model, and intelligent switching of three motion modes of wheel type high-speed maneuvering, crawler belt obstacle crossing and rocker arm climbing can be achieved. Tests show that the structure can enable the robot to stably cross a 100 mm vertical obstacle, good posture stability is kept in unstructured terrains such as gravel and rubble, and meanwhile the environment is sensed through various sensors. Compared with a traditional single motion structure, the multi-dimensional maneuvering ability in the complex post-disaster environment is achieved through mechanical structure innovation, and the terrain adaptability of rescue equipment is effectively improved.

    本发明公开了一种面向地震搜救的多源协同摇臂—履带机器人复合机械结构,属于智能救援设备技术领域。创新性地设计了摇臂—履带—轮子三维运动结构系统,机器人中部采用舵机驱动的多自由度摇臂结构,底部配置电机驱动的双履带差速驱动模块;前部设置摆臂平衡轮组辅助攀爬作业。该复合结构通过质心动力学模型建立姿态稳定控制算法,可实现轮式高速机动、履带越障和摇臂攀爬三种运动模式的智能切换。经测试,该结构可使机器人稳定跨越100mm垂直障碍,在碎石、瓦砾等非结构化地形中保持良好的姿态稳定性,同时通过多种传感器感知环境。相比传统单一运动结构,本设计通过机械结构创新实现了复杂灾后环境下的多维度机动能力,有效提升救援装备的地形适应性。


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    Title :

    Multi-source cooperative rocker arm-tracked robot for earthquake search and rescue


    Additional title:

    一种面向地震搜救的多源协同摇臂—履带机器人


    Contributors:
    SUN GUILING (author) / LI ZISHU (author) / HAO CHENHAO (author) / ZHANG YIFAN (author) / WANG YAQI (author)

    Publication date :

    2025-05-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



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