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Three-dimensional robot having obstacle detouring function

A degree of freedom and robotic technology, applied in the field of robotics, can solve problems such as complex structure and large volume

Inactive Publication Date: 2010-06-02
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For example, the patent No. 200710191637.3, which is named "composite obstacle-crossing walking system", although the obstacle-crossing mechanism has good obstacle-crossing performance, its structure is relatively complicated and the volume is large.

Method used

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  • Three-dimensional robot having obstacle detouring function
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  • Three-dimensional robot having obstacle detouring function

Examples

Experimental program
Comparison scheme
Effect test

Embodiment approach 1

[0018] Implementation plan one: such as figure 1 , It mainly includes walking mechanism 7, chassis frame 6, frame 2, three degrees of freedom manipulator, it also includes obstacle crossing walking mechanism 8, bracket 20, walking mechanism 7 is fixed on the lower part of chassis frame 6, bracket 20, frame 2 is fixed on the upper part of the chassis frame 6, the obstacle crossing walking mechanism 8 is fixed on the lower part of the bracket 20, and the three-degree-of-freedom manipulator is installed on the frame 2.

[0019] Such as figure 2 , The obstacle crossing walking mechanism 8 includes a bracket 20, a front and rear walking mechanism 19, a front axle 35, a spring 29, a spring 33, a front fastening device 27, a rear axle 25, a rear fastening device 26, a rubber band 28, a trigger lever 21, a pin rod 31. Pin holder 32, reset lever 30, and limit lever 34. The obstacle crossing walking mechanism 8 is fixed on the lower end of the bracket 20, the bracket 20 is fixed on the ch...

Embodiment approach 3

[0024] The third embodiment: an infrared sensor is installed under the obstacle crossing mechanism 8 and the chassis frame 6 to determine the walking route of the robot. Since this invention requires obstacle crossing, the sensor located at the obstacle crossing mechanism 8 can be driven by the motor to rotate upward after the sensor completes the route planning task, so as not to hinder the obstacle crossing movement.

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Abstract

The invention provides a three-dimensional robot having an obstacle detouring function, comprising a running gear, a chassis frame, a frame, a three-dimensional manipulator, an obstacle detouring running gear and a bracket. The running gear is fixed on the lower part of the chassis frame. The bracket and the frame are fixed on the upper part of the chassis frame. The obstacle detouring running gear is fixed on the lower part of the bracket. The three-dimensional manipulator is installed on the frame. The invention can astride a high obstacle in order to realize three-dimensional grabbing and interfering object. The robot can form a specific robot by matching with other robots.

Description

(1) Technical field [0001] The invention relates to a robot, in particular to a three-degree-of-freedom robot with obstacle crossing function. (2) Background technology [0002] With the development of industrial technology, various mechanical devices have been applied to various fields, which can realize autonomous obstacle crossing, and can realize the manipulator with certain functions to grab objects, which is a trend of the development of industrial robots in the future. The design ideas of traditional mechanical robots with obstacle-climbing functions are limited to complex structure, difficult process and large volume, etc. Therefore, the scope of application of this kind of mechanism in actual production and life is relatively small. For example, the patent number 200710191637.3, the obstacle-climbing mechanism named "Composite Obstacle-Climbing Walking System" has good obstacle-climbing performance, but its structure is more complicated and bulky. In addition, the prev...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J5/00B62D57/02B25J3/00B25J15/02
Inventor 陈东良宫含洋左永胜方堃王斌沈利锋徐正毅
Owner HARBIN ENG UNIV
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