The invention discloses a variable-structure multi-mode mobile robot which comprises at least two composite clamp wheel units arranged at intervals, and a relative position adjusting unit is arranged between every two connected composite clamp wheel units. Each combined clamp wheel unit comprises a main spoke and two half wheels; a hinge shaft is arranged at the radial outward end of the main spoke, at least one of the two half wheels is in running fit with the hinge shaft, a telescopic rod mechanism is arranged between the half wheel and the main spoke, and the telescopic rod mechanism is used for controlling the two half wheels to be opened to form a clamp structure or closed to form a round wheel structure; the relative position adjusting unit is used for adjusting the axial distance between every two adjacent composite clamp wheel units in the axial direction, the inclination angle between every two adjacent composite clamp wheel units and the offset direction and the offset distance between every two adjacent composite clamp wheel units in the radial direction. A rotating shaft is mounted on the main spoke, and the rotating shaft is coaxial with a round wheel structure formed when the two half wheels are closed; and the rotating driving mechanism is in transmission connection with the rotating shaft.

    本发明公开了一种变结构多模式移动机器人,包括间隔设置的至少两个复合钳轮单元,相连两个复合钳轮单元之间设有相对位置调节单元;复合钳轮单元包括主辐条和两个半轮;主辐条径向向外的一端设有铰接轴,两个半轮中,至少一个半轮与铰接轴转动配合,且半轮与主辐条之间设有伸缩杆机构,伸缩杆机构用于控制两个半轮之间张开以形成夹钳结构或闭合以形成圆轮结构;相对位置调节单元用于调节相邻两个复合钳轮单元在轴向方向上的轴向距离、相邻两个复合钳轮单元之间的倾斜角度以及相邻两个复合钳轮单元在径向方向上的偏移方向和偏移距离;主辐条上安装有转动轴,转动轴与两个半轮闭合时构成的圆轮结构同轴;还包括与转动轴传动连接的转动驱动机构。


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    Titel :

    Variable-structure multi-mode mobile robot


    Weitere Titelangaben:

    变结构多模式移动机器人


    Beteiligte:
    HUAN HONGLUN (Autor:in)

    Erscheinungsdatum :

    2023-05-16


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



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