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一种移动式起缝机器人
Alternative TitleMovable type gap opening robot
李斌; 李志强; 张国伟; 王聪; 郑怀兵
Department机器人学研究室
Rights Holder中国科学院沈阳自动化研究所
Patent Agent沈阳科苑专利商标代理有限公司 21002
Country中国
Subtype发明授权
Status有权
Abstract本发明属于机械自动化工程领域,具体地说是一种能够用于废墟、洞穴等环境中的移动式起缝机器人,包括机器人箱体、前、后摆臂、起缝执行机构、前、后摆臂驱动机构、机器人驱动机构及起缝控制机构,机器人箱体的两侧对称设有带动起缝机器人整体移动的机器人驱动机构;机器人箱体前端的两侧对称设有前摆臂,两侧的前摆臂通过安装在机器人箱体内的前摆臂驱动机构同步转动,机器人箱体后端的两侧对称设有后摆臂,两侧的后摆臂通过安装在机器人箱体内的后摆臂驱动机构同步转动,起缝机器人通过前、后摆臂的转动实现越障及起缝角度的调节。本发明可应用于废墟、洞穴等复杂环境条件下,能够调节初始起缝高度,具有运动灵活、适应型广泛等特点。
Other AbstractThe invention belongs to the field of mechanical automation engineering, and particularly relates to a movable type gap opening robot which can be used in the environment such as ruins and caves. The movable type gap opening robot comprises a robot box body, front swing arms, back swing arms, a gap opening executing mechanism, a front swing arm driving mechanism, a back swing arm driving mechanism, robot driving mechanisms and a gap opening control mechanism; the robot driving mechanisms used for driving the gap opening robot to move integrally are symmetrically arranged on the two sides of the robot box body; the front swing arms are symmetrically arranged on the two sides of the front end of the robot box body, the front swing arms on the two sides rotate synchronously through the front arm driving mechanism installed in the robot box body, the back swing arms are symmetrically arranged on the two sides of the back end of the robot box body, the back swing arms on the two sides rotate synchronously through the back swing arm driving mechanism installed in the robot box body, and the gap opening robot achieves obstacle crossing and gap opening angle regulating through the rotation of the front swing arms and the back swing arms. The gap opening robot can be applied under the complex environmental conditions such as the ruins and the caves, the initial gap opening height can be regulated, and the advantages of being flexible in movement and wide in adaptability and the like are achieved.
PCT Attributes
Application Date2013-12-13
2015-06-17
Date Available2017-01-11
Application NumberCN201310690445.2
Open (Notice) NumberCN104709373B
Language中文
Contribution Rank1
Document Type专利
Identifierhttp://ir.sia.cn/handle/173321/19797
Collection机器人学研究室
Affiliation中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
李斌,李志强,张国伟,等. 一种移动式起缝机器人[P]. 2015-06-17.
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