The invention belongs to the technical field of intelligent carrying, and particularly relates to an intelligent carrying device for a complex environment, a cooperative control system and a control method. The intelligent carrying device comprises a rack, a posterior limb walking mechanism and a forelimb walking mechanism, wherein the posterior limb walking mechanism and the forelimb walking mechanism are installed on the rack. The fore limb walking mechanism comprises a power mechanism mounted on the rack and two balance walking legs which are in transmission arrangement with the output end of the power mechanism; wherein the balance walking leg comprises an upper rotating frame and a lower rotating frame which are rotatably arranged with the output end of the power mechanism; a triangular rotating frame; a first balancing stand; a second balancing stand; a Y-shaped supporting leg; during walking, the lower ends of the Y-shaped supporting legs are supported on the ground, the two balance walking legs can adapt to the gravity center position of the intelligent carrying device in real time, three-point contact with the ground is kept all the time in the walking process, and the adaptability and stability of the intelligent carrying device are effectively improved; the problem that in the prior art, a carrying device in a complex environment topples over due to gravity center position changes is solved.

    本发明属于智能搬运技术领域,具体涉及一种复杂环境的智能搬运装置、协同控制系统、控制方法。本发明的智能搬运装置包括机架、安装在机架上的后肢行走机构和前肢行走机构;前肢行走机构包括安装在机架上的动力机构和均与动力机构的输出端传动设置的两平衡行走腿;其中,平衡行走腿包括:与动力机构的输出端转动设置的上旋转架和下旋转架;三角旋转架;第一平衡架;第二平衡架;Y形支腿;在行走时,Y形支腿的下端部支撑在地面上,两个平衡行走腿能够实时自适应智能搬运装置的重心位置,在行走过程中始终保持与地面三点接触,有效提高智能搬运装置的适应性、稳定性,解决现有技术中复杂环境搬运装置因重心位置变化造成的倾倒问题。


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    Titel :

    Intelligent carrying device for complex environment, cooperative control system and control method


    Weitere Titelangaben:

    复杂环境的智能搬运装置、协同控制系统、控制方法


    Beteiligte:
    CHEN YU (Autor:in) / CHEN CHEN (Autor:in) / WANG LING (Autor:in) / ZHANG LIN (Autor:in) / CHEN JIAYUAN (Autor:in) / MA TIANQI (Autor:in) / ZHU HAORAN (Autor:in) / LIU KAILEI (Autor:in)

    Erscheinungsdatum :

    30.04.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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