The invention discloses a dual-mode obstacle crossing carrying robot. A shell which is provided with a base plate is included; an inner cylinder is fixed on the base plate; an outer cylinder capable of sliding up and down is nested on the outer wall of the inner cylinder; a rear end of the base plate is rotatably connected with a rear supporting leg; a first air cylinder is hinged between the rearsupporting leg and the base plate; the front end of the base plate is rotatably connected with a front supporting leg; a lower end of the front supporting leg is divided into front and rear supporting sections; the rear supporting leg and the supporting section arranged at the rear end are rotatably connected with a roller; the supporting section arranged at the front end is rotatably connected with an omnidirectional wheel; and a second air cylinder is hinged between one of the supporting sections and the base plate, hub motors for making the rollers work are arranged on the rear supportingleg and the supporting sections respectively, an obstacle crossing function is strong, steering is flexible, front-back movement and transverse movement can be achieved, stairs can be climbed, a damping effect is good, and when a capacity of the inner cylinder is not large enough, a storage space can be increased by lifting the outer cylinder.
本发明公开了一种双模式越障搬运机器人,包括设有底板的外壳,底板上固定有内筒,内筒的外壁上嵌套有能够上下滑动的外筒,底板的后端转动连接后支腿,后支腿与底板之间铰接有第一气缸,底板的前端转动连接前支腿,前支腿下端分为前后两个支节,后支腿以及设在后端的支节上分别转动连接有滚轮,设在前端的支节上转动连接有全向轮,其中一个支节与底板之间铰接有第二气缸,后支腿和支节上分别设有控制滚轮工作的轮毂电机,其越障功能强,转向灵活,并且能前后移动和横向移动,能够爬楼梯,减震效果好,当内筒的容量不够大时可通过提升外筒增加储物空间。
Dual-mode obstacle crossing carrying robot
一种双模式越障搬运机器人
2020-10-30
Patent
Electronic Resource
Chinese
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