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专利名称: 具有轮-腿-履带复合移动机构的危险作业机器人
其他题名: Dangerous operation robot with wheel-leg-caterpillar track composite moving mechanism
作者: 李小凡; 姚辰; 王忠; 原培章; 罗宇
所属部门: 机器人学研究室
专利权人: 中国科学院沈阳自动化研究所
专利代理: 沈阳科苑专利商标代理有限公司
专利国别: 中国
专利类型: 发明授权
专利状态: 有效
摘要: 本发明公开一种具有轮-腿-履带复合移动机构的危险作业机器人。包括四条摆腿、两条主履带、四条辅助履带、四个带轮和移动本体,其两对角线方向的机构构成是完全相同的;其中,两个行走驱动电机通过带轮传动齿轮和两条主履带将转动分别传给四个带轮转动轴和四条辅助履带,并通过轮子传动齿轮带动四个轮子转动;两个摆腿驱动电机,通过两对摆腿转动齿轮和两根摆腿转动轴,驱动四条摆腿上下摆动。本发明能在平地和较平地面实现前进、后退、左右转向、爬坡等功能;特别是履带移动方式和轮子移动方式在机器人运动过程中,根据环境地面情况可相互切换,使该危险作业机器人尽快到达指定作业地点。
英文摘要: The dangerous operation robot with composite wheel-leg-caterpillar track moving mechanism includes four oscillating legs, two main caterpillar tracks, four auxiliary caterpillar tracks, four belt wheels and moving body. It has completely same mechanisms in two diagonal directions two walk driving motors transmitting rotation via the belt wheel driven gear and two main caterpillar tracks to four belt wheel shafts and four auxiliary caterpillar tracks and driving four wheels via the driving gears two oscillating leg driving motors driving the four oscillating legs to oscillate up and down via two pairs of oscillating leg rotating gears and two oscillating leg rotating shafts. The dangerous operation robot can go forward, fall back, turn, climb, etc. and especially it has switchable caterpillar track moving mode and wheel moving mode determined based on ground condition and thus high moving speed.
是否PCT专利:
申请日期: 2004-06-30
公开日期: 2006-01-04
授权日期: 2007-12-12
专利申请号: CN200410020856.1
公布/公告号: CN100354171C
语种: 中文
产权排序: 1
内容类型: 专利
URI标识: http://ir.sia.cn/handle/173321/14483
Appears in Collections:机器人学研究室_专利

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Recommended Citation:
李小凡,姚辰,王忠,等. 具有轮-腿-履带复合移动机构的危险作业机器人. CN100354171C. 2006.
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文件名: CN200410020856.1授权.pdf
格式: Adobe PDF
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