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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

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

AI Technical Summary

Problems solved by technology

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 complex and difficult to control, It is not easy to meet the requirements of high flexibility in the design

Method used

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  • Wheel-leg hybrid drive type mining metamorphic robot
  • Wheel-leg hybrid drive type mining metamorphic robot
  • Wheel-leg hybrid drive type mining metamorphic robot

Examples

Experimental program
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Effect test

Embodiment 1

[0030] Such as Figure 1-Figure 4 As shown, the present invention is a kind of wheel-leg hybrid-driven mine metamorphic robot, which consists of a carrying platform (chassis), four wheel-leg walking mechanisms with the same structural size, and each wheel-leg walking mechanism includes a wheel-leg walking mechanism. Branch chain and a steering gear.

[0031] The carrying platform 12 is a planar plate structure, which can be made of ordinary plate materials and is easy to process and manufacture.

[0032] The wheel leg branch chain includes a support 5, a thigh bar 2, a shank bar 14, a wheel 1, three motors and two pulley assemblies.

[0033] The support 5 is designed as a U-shaped structure, which is convenient for fixing the motor two 4 and the motor four 18 on its two outer sides respectively. The axis of described motor two 4 and motor four 18 coincides, to guarantee thigh bar 2 and the synchronous rotation of the belt transmission mechanism that is made up of pulley thre...

Embodiment 2

[0041] A wheel-leg hybrid-driven mining metamorphic robot of the present invention can realize height adjustment of the robot carrying platform (chassis), straight or oblique movement during wheel-type movement, and human-like walking or insect-like walking during leg-type movement. For the movement forms such as crawling, the operation procedures of other wheel leg branches and steering devices are similar to the operation procedures of the driving operation steps of one wheel leg branch chain and steering device, and the realization of the aforementioned functions will be described.

[0042] 1. Height adjustment of the carrying platform (chassis): When the wheel is moving, such as figure 1 As shown, the rotation angle of the thigh rod 2 driven by the motor 2 can realize the height adjustment of the robot system carrying platform (chassis); image 3 , Figure 4 As shown, the rotation angle change of the thigh rod 2 driven by the motor two 4 and the rotation angle change of t...

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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.

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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Application Information

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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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