The invention discloses a light detection sampling wheeled robot with an active suspension structure. Each wheel is provided with an independent driving unit and a suspension unit, the angle and speed of a vehicle body are detected through sensors such as a gyroscope carried by the vehicle body, each active suspension driving unit is further controlled, and the active suspension driving units drive a suspension arm to rotate, so that the supporting angles of different wheels to the vehicle body are adjusted, and the light sampling wheeled robot can pass through different terrains. A novel sample sampling mechanism is carried in the middle and matched with a power system and a suspension system of the robot, the robot travels to the position above a sample, a sampling mechanism gripper is opened, and in the process that the sampling gripper moves downwards, a connecting rod device on a gripper cover plate pushes a bin door at the bottom of a robot vehicle body to be opened, and the sampling gripper extends out of the vehicle body; and after sampling is completed, the power unit rotates reversely, the gripper is controlled to be closed and move upwards, meanwhile, the connecting rod device drives the bin door at the bottom of the vehicle body to be closed, and sample sampling is completed.

    本发明公开了一种带主动悬挂结构的轻质探测采样轮式机器人,每个轮子有一个独立的驱动单元和悬挂单元,通过车身携带的陀螺仪等传感器检测车身角度与速度,进而控制每一个主动悬挂驱动单元,主动悬挂驱动单元带动悬挂臂转动,从而调整不同轮子对车身的支撑角度,使得轻质采样轮式机器人可以通过不同的地形。中部搭载了一个新型样品采样机构,采样机构与机器人的动力系统与悬挂系统配合,机器人行驶到样品上方,采样机构抓手打开,在采样抓手向下移动过程中,在抓手盖板上的连杆装置推动机器人车体底部的仓门打开,采样抓手伸出车体;完成采样后,动力单元反转,控制抓手闭合,并向上动作,同时连杆装置带动车体底部的仓门闭合,完成样品采样。


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    Title :

    Light detection sampling wheeled robot with active suspension structure


    Additional title:

    一种带主动悬挂结构的轻质探测采样轮式机器人


    Contributors:
    AN NING (author) / LI YUEHUA (author) / ZHU SHIQIANG (author) / LIU MING (author) / ZHONG XINLIANG (author)

    Publication date :

    2022-02-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / G01N Untersuchen oder Analysieren von Stoffen durch Bestimmen ihrer chemischen oder physikalischen Eigenschaften , INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES



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