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Crawler type multi-arm rod mobile robot

A mobile robot and crawler technology, applied in the field of mobile robots, can solve problems such as small application range, and achieve the effect of not easy to fall off and jam, high strength and good flexibility

Inactive Publication Date: 2008-10-08
北京中泰恒通科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0009] This kind of robot is flexible, but its application range is small and has obvious limitations

Method used

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  • Crawler type multi-arm rod mobile robot
  • Crawler type multi-arm rod mobile robot
  • Crawler type multi-arm rod mobile robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0067] Embodiment 1 Three-segment crawler-type three-arm rod with 6 degrees of freedom mobile robot

[0068] see figure 1 , it can be seen that the three-segment crawler-type three-arm 6-degree-of-freedom robot of this embodiment is mainly composed of an upper and lower part of an arm working device 1 and a crawler-type walking device 2 . The arm working device 1 realizes 360° movement on the horizontal plane and 180° on the sky surface, and completes human arm bionic actions such as grabbing, pushing, pulling, and lifting.

[0069] The assembly effect of the arm working device 1 is as follows figure 2 shown. It includes a waist swivel joint 6, a large arm 3, a middle arm 4, a small arm 5, and a claw device 11, and they respectively pass through the large arm joint 7, the middle arm joint 8, the small arm joint 9, and the wrist swivel joint. Joint 10 connections. Each joint and gripper device 11 has its own motor reducer, which can produce motion, and this motion is gen...

Embodiment 2

[0082] The walking device of embodiment 2 single crawler type mobile robot

[0083] In order to further reduce the overall weight of the mobile robot, the crawler-type traveling device 2 can preferably be made into a single crawler.

[0084] The single crawler type traveling device is characterized by reducing the number of crawlers, simplifying the structure of the crawler wheels, and simplifying the transmission structure. Its side view is as Figure 13 shown. It can be seen that each side of the box includes 2 walking track wheels 40 and 1 elevation angle tensioning track wheel 87, a walking track 41 and a tensioning bracket 88. There are 4 walking support wheels 44 between the walking track wheels 40 . The elevation angle of the tensioning track wheel 87 is 35°. Owing to adopting the design that the elevation angle is fixed, the elevation angle tensioning track wheel 87 may not need to be connected with the transmission mechanism, thereby simplifying the structure. ...

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Abstract

The invention relates to the robot field, which provides a pedrail type movable robot with multiple arm links and consists of an arm working device and a pedrail type walking device. The invention can realize normal movable driving on a plurality of complicated road surfaces and finish a plurality of human hand bionic actions. The robot of the invention can substitute for human to work under a plurality of complicated, dangerous and abominable working environments, and has the advantages of strong adaptability, good flexibility, high intensity, etc.

Description

technical field [0001] The invention relates to the field of robots, in particular to a crawler-type multi-arm high-degree-of-freedom mobile robot. Background technique [0002] In the field of anti-terrorism, when suspicious explosives are found, there are two methods for traditional detonation work, one is manual direct contact, manual handling or dismantling; the other is to use a 3-meter-long hand pole to hang, pull, Transport suspected explosive items to a safe and convenient place, and then deal with them through direct manual contact. These two methods are still widely used so far. It is obvious that in the process of detonation, people's life safety is directly threatened, the operation process is extremely unsafe, and the operation methods and tools are also very backward. [0003] In nuclear industry applications, when it is necessary to grasp, carry, and place radioactive materials, the existing methods are also manual operations. Although there are protective c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D55/065B25J5/00
CPCB25J5/005
Inventor 杨德智
Owner 北京中泰恒通科技有限公司
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