针对在崎岖地形下的运载困难以及稳定性差，影响货物安全运送等问题，设计了一种全地形水平运载系统。采用了六足步行机器人模块与水平调节模块相结合的技术，六足步行机器人模块通过软件控制18位舵机来驱动运动关节，以实现灵活的运动，另外，水平调节模块通过倾角传感器采集地面与水平面的倾斜角度，其角度数据通过51单片机处理来控制液压系统中步进电机的输出量，以实现导杆在油压作用下的升降，完成载物台的水平调节。试验表明：该系统能够在倾斜度为1°~30°范围内自动调节，使其实现水平运载功能。%Due to the transport difficulties and poor stability in rugged region, we designed all-terrain level transport system to deal with problems of the transportion of goods. We combined technology of hexapod walkers and level monitoring module;Hexapod walkers can drive the joint movement smoothly through the control of 18-number steering engine. In addition , level monitoring module collects the number of slant angle between horizon level and ground that is calculated by 51-Single chip microcomputer to control output of stepper motor and thus enables the lifting of guide rod under oil pressure and complete the level regulation of loading table. Experiment shows that this system can regulate automatically in the range of 1°to 30°so that realize the level transport function.
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