The invention discloses a multifunctional field exploration bionic robot which comprises a robot body mechanism, a variable-radius rotating wheel leg mechanism, a variable-rigidity connecting mechanism, a flexible tail mechanism and a front-end executing mechanism. The machine body mechanism comprises a plurality of bottom plates; the variable-rigidity connecting mechanism comprises a plurality of variable-rigidity connecting assemblies, and every two adjacent bottom plates are connected through the corresponding variable-rigidity connecting assembly. The variable-radius rotating wheel leg mechanism comprises a plurality of variable-radius rotating wheel leg assemblies, and each variable-radius rotating wheel leg assembly has a wheel type moving mode and a leg type moving mode; the flexible tail mechanism has the freedom degree of rotating in the circumferential direction and the freedom degree of bending in the vertical direction. And the front-end executing mechanism has a barrier removing and/or collecting function. According to the scheme, the high moving speed can be achieved on the gentle terrain, meanwhile, the requirement for the high obstacle crossing ability on the complex terrain can be met, meanwhile, the rigidity of the machine body can be automatically adjusted, and the controllability and flexibility of the tail structure are high.
本发明公开了一种多功能野外勘探仿生机器人,包括机身机构、变半径回转轮腿机构、变刚度连接机构、柔性尾部机构和前端执行机构;机身机构包括多个底板;变刚度连接机构包括多个变刚度连接组件,且相邻两个底板之间均通过变刚度连接组件进行连接;变半径回转轮腿机构包括多个变半径回转轮腿组件,变半径回转轮腿组件具有轮式移动模式和腿式移动模式两种;柔性尾部机构具有沿周向旋转的自由度和沿竖向弯曲的自由度;前端执行机构具有除障和/或采集功能。本方案既能在平缓的地形上具有较高的移动速度,同时又能在复杂地形上具有较高越障能力的需求,同时,机体的刚度能够自动调节,尾部结构的可控性和灵活性均较高。
Multifunctional field exploration bionic robot
一种多功能野外勘探仿生机器人
22.09.2023
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge / F16M Rahmen, Gehäuse oder Grundplatten von Kraftmaschinen oder anderen Maschinen oder von Apparaten, nicht auf eine besondere Art von Maschine oder Apparat eingeschränkt, die anderweitig vorgesehen ist , FRAMES, CASINGS, OR BEDS, OF ENGINES OR OTHER MACHINES OR APPARATUS, NOT SPECIFIC TO AN ENGINE, MACHINE, OR APPARATUS PROVIDED FOR ELSEWHERE / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen |
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