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Wheel-leg hybrid drive mining robot based on five-rod mechanism

A hybrid drive, five-bar mechanism technology, applied in the field of robots, can solve the problems of insufficient obstacle-crossing ability and stability, difficult to meet high flexibility requirements, complex structure and other problems, and achieve good maneuverability, simple structure and low economic cost. Effect

Inactive Publication Date: 2021-02-19
CHINA UNIV OF MINING & TECH
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  • Abstract
  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

The wheeled mobile robot has a simple structure and fast running speed, but its obstacle-surmounting ability and stability in an unstructured environment have great deficiencies; the legged mobile robot has a strong ability to adapt to terrain, but its structural composition is relatively complex , Difficult to control, not easy to meet the high flexibility requirements in the design

Method used

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  • Wheel-leg hybrid drive mining robot based on five-rod mechanism
  • Wheel-leg hybrid drive mining robot based on five-rod mechanism

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Embodiment 2

[0038] The present invention is a wheel-leg hybrid driving mining robot based on a five-bar mechanism, which can realize the height adjustment of the robot's carrying chassis, straight or oblique walking during wheeled movement, and human-like walking during legged movement. The realization of the aforesaid functions is described through the driving operation steps of a set of steering device and a wheel leg chain.

[0039] 1. Height adjustment of the carrying chassis

[0040] In the wheeled movement state, the upper leg bar I7 is driven to rotate a certain angle counterclockwise by the starting motor I8, or the upper leg bar II16 is driven to rotate a certain angle clockwise by the starting motor II15, or both are driven at the same time, both can lift the carrying chassis 14) On the contrary, the height of the carrying chassis 14 can be reduced.

[0041] The posture of the carrying chassis 14 , such as the forward tilt type, the forward tilt type, the horizontal type, etc.,...

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Abstract

The invention relates to a wheel-leg hybrid drive mining robot based on a five-rod mechanism, and belongs to the field of robots. The wheel-leg hybrid drive mining robot based on a five-rod mechanismcomprises a bearing platform, steering parts, deformation supporting leg parts, steering drive parts and wheels. Four sets of deformation supporting leg parts are arranged on the lower end face of thebearing platform, wheels are arranged at the bottom ends of the deformation supporting leg parts, wheel driving parts for driving the wheels to move are arranged on the deformation supporting leg parts, and steering driving parts for driving the deformation supporting leg parts to steer are arranged on the upper end face of the bearing platform. The steering driving parts are connected with the deformation supporting leg parts through steering parts. The robot has the advantages of being simple and compact in structure, large in bearing capacity, low in economic cost, good in maneuvering performance, high in environmental adaptability and the like.

Description

technical field [0001] The invention relates to a wheel-leg hybrid driving mining robot based on a five-bar mechanism, which belongs to the field of robots. Background technique [0002] As a strategic high-tech, robot and its driver technology have received extensive attention from domestic and foreign scholars, enterprises, institutions and national leaders. As one of the important branches in the field of robotics, mobile robots are of great significance to the development and application of new mobile robots and related technologies, which are of great significance to promoting social progress, economic development and improving people's quality of life. [0003] According to the different moving methods, mobile robots can be divided into wheeled, legged, crawler and hybrid forms. The wheeled mobile robot has a simple structure and fast running speed, but its ability to overcome obstacles and stability in an unstructured environment has great deficiencies; the legged ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/028
CPCB62D57/028
Inventor 刘善增张克非李怀展沈刚李允旺李艾民曹国华
Owner CHINA UNIV OF MINING & TECH
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