Sampling robot walking mechanism

Abstract

Provided is a walking mechanism of a sampling robot. The walking mechanism of the sampling robot comprises an object placement platform balancing unit and a moving unit, wherein the object placement platform balancing unit comprises an object placement platform, connecting rod mechanisms, a lead screw and a lead screw motor, the moving unit comprises two front wheels, two middle wheels, two rear wheels, a rack and a revolute pair, the front wheels are symmetrically distributed on the left side and the right side of the position below the object placement platform, the middle wheels are symmetrically distributed on the left side and the right side of the position below the object placement platform, the rear wheels are symmetrically distributed on the left side and the right side of the position below the object placement platform, the rear wheels and the rack are connected through the revolute pair, the front wheels are arranged on the front end portion of the rack, the middle wheels are arranged on the rear end portion of the rack, the rear wheels are hinged to the rack through the revolute pair, the object placement platform is connected with the moving unit through the connecting rod mechanisms, the position of hinge joint between a first connecting rod and a second connecting rod of each connecting rod mechanism is hinged to the rack of the moving unit, and the position of hinge joint between a third connecting rod and a fourth connecting rod of each connecting rod mechanism is hinged to a rear wheel supporting rod of the moving unit. The walking mechanism of the sampling robot has the advantages that due to the fact that the object placement platform balancing unit and the moving unit are combined together, climbing performance, ditch crossing performance, boss crossing performance and steering performance of the whole walking mechanism are ensured, a motor is used by the middle wheels, a motor is used by the rear wheels, differentials are used for distributing power for the middle wheels and the rear wheels respectively, and steering stability of the sampling robot is improved.

Description

technical field [0001] The invention relates to the field of sampling robot design, in particular to a sampling robot walking mechanism, especially suitable for small and medium-sized intelligent mobile devices working in outdoor complex environments. Background technique [0002] At present, the domestic robot industry started relatively late, and there is still a certain gap with foreign countries. For the robot walking mechanism, wheel-type moving mechanism and crawler-type moving are existing relatively mature designs. The characteristics of small friction, high moving speed and poor adaptability, crawler-type mobile mechanism has greater climbing ability and crossing ability on soft ground, but the structure is relatively complicated. The design of the linkage mechanism has been born in the mechanical principle for a long time, and the reasonable design of the rod length and frame can realize complex movements, while the worm gear movement can achieve a large transmissi...

AI Technical Summary

Problems solved by technology

There are few studies on sampling robots under normal conditions

In engineering construction, sampling work is very common, such as geological exploration, resource exploration, construction industry, etc. The sampling work is tedious and the conditions are very difficult. Intact robotic walking mechanism

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