Wheel-leg hybrid drive type mining metamorphic robot

A technology of hybrid drive and robot, applied in motor vehicles, transportation and packaging, etc., can solve problems such as high flexibility, difficult structure, obstacle-surpassing ability and stability defects, etc., and achieve simple structure, low economic cost and combination The effect of easy form
CN112373594AInactive Publication Date: 2021-02-19CHINA UNIV OF MINING & TECH
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Patent Information

Authority / Receiving Office
CN ยท China
Current Assignee / Owner
CHINA UNIV OF MINING & TECH
Publication Date
2021-02-19
Estimated Expiration
Not applicable ยท inactive patent

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Abstract

A wheel-leg hybrid drive type mining metamorphic robot comprises a bearing platform and four wheel-leg walking mechanisms, and each wheel-leg walking mechanism comprises a wheel-leg branched chain anda steering device; each wheel-leg branch chain comprises a support, mounting plates are arranged on the two sides of the support, a second motor and a fourth motor are mounted on the mounting platesrespectively, the second motor is connected with a thigh rod, the bottom end of the thigh rod is rotationally connected with a wheel shaft, the fourth motor is connected with a first belt wheel assembly, the fourth motor is connected with and drives the wheel shaft, and wheels are connected to the wheel shaft. The thigh rod is provided with a third motor and hinged to a shank rod, and the third motor is connected with and drives the shank rod. The steering device comprises a rotating shaft connected to the support, the support is rotationally connected with the bearing platform through the rotating shaft, and a first motor is connected to the rotating shaft. The characteristics of high speed and high efficiency of a wheel type mobile robot and high adaptability of a leg type mobile robot to complex terrains are fused, the obstacle crossing capacity of the robot is improved, and the operation range is enlarged.
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Description

technical field

[0001] The invention belongs to the field of mineral mining, and in particular relates to a wheel-leg hybrid-driven metamorphic robot for mines. Background technique

[0002] Robot and its driver technology, as a strategic high-tech, has attracted extensive attention from scholars, enterprises and institutions at home and abroad. The research and development and application of new mobile robots and related technologies have great significance in promoting social progress, economic development and improving people's quality of life. important meaning.

[0003] According to different ways of moving, mobile robots are divided into various forms such as wheeled, legged, crawler and hybrid. Generally, wheeled mobile robots have a simple structure and fast speed, but there are great defects in their obstacle-surmounting ability and stability in an unstructured environment; while legged mobile robots have strong terrain adaptability, but their general structure is ...

Claims

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