一种轮足混合自立式交通锥机器人结构设计  

Structural Design of a Wheel-foot Hybrid Self-supporting Traffic Cone Robot

作　　者：贾楠[1] 焦生杰[1] 任化杰 Jia Nan;Jiao Shengjie;Ren Huajie

机构地区：[1]长安大学公路养护装备国家工程研究中心

出　　处：《工程机械》2024年第2期109-113,I0005-I0006,共7页Construction Machinery and Equipment

摘　　要：针对高速公路道路养护作业时交通锥布放存在危险性大及劳动强度高的问题,基于轮式移动机器人结构、不倒翁结构以及仿生学角度,设计出一种自立式交通锥机器人,该机器人具有移动底盘、控制单元、供电单元和驱动单元。对机器人结构进行建模,并分析结构的平衡原理与步态行走原理。所设计的交通锥机器人具有驱动轮行走和四足行走两种行走方式,可实现在不同地形场景的应用,并可解决人工扶正问题,能够提高交通锥使用的安全性、便捷性及道路养护作业的自动化程度。In view of the problems of high risk and labor intensity of traffic cone placement during expressway maintenance,based on the structure of wheeled mobile robot,structure of tumbler and bionics point of view,a self-supporting traffic cone robot is designed.The robot consists of a mobile chassis,a control unit,a power supply unit and a drive unit.The robot structure is modelled,and the balance principle and gait waling principle of the structure are analyzed.The designed traffic cone robot has two walking modes,driving wheel walking and fourfoot walking,which can be applied in different terrain scenarios,solve the problem of manual righting and improve the safety and convenience of using traffic cones and automation degree of expressway maintenance.

关 键 词：智能交通锥 交通锥 机器人 智能交通 

分 类 号：U418[交通运输工程—道路与铁道工程] U495[自动化与计算机技术—检测技术与自动化装置] TP242[自动化与计算机技术—控制科学与工程]