The invention relates to the field of mobile robots, in particular to a rolling-rod-like mobile robot of a rolling-space-like multi-closed-chain moving mechanism based on a space single-closed-chain 6R mechanism. The robot is composed of a first upper end connecting rod (1), a second upper end connecting rod (14), a third upper end connecting rod (7), a fourth upper end connecting rod (9), a fifth upper end connecting rod (5), a sixth upper end connecting rod (11), a seventh upper end connecting rod (17), an eighth upper end connecting rod (16), a motor (12), a redundant motor (3), a first small ring supporting rod piece (15), a second small ring supporting rod piece (8), a third small ring supporting rod piece (4), a fourth small ring supporting rod piece (13) and a first cross rod piece (10). The first cross-shaped rod piece (6) and the second cross-shaped rod piece (6) are arranged on the large-ring supporting rod piece (2). Straight movement, reverse movement, steering movement, obstacle crossing, continuous step descending and target point orientation movement are achieved by controlling the motor to rotate forwards and backwards, and the robot can be well applied to the fields of education, entertainment, military affairs and the like.
本发明涉及移动机器人领域,该机器人是基于空间单闭链6R机构构造类滚动空间多闭链移动机构的类滚动杆式移动机器人,机器人由第一上端连杆(1)、第二上端连杆(14)、第三上端连杆(7)、第四上端连杆(9)、第五上端连杆(5)、第六上端连杆(11)、第七上端连杆(17)、第八上端连杆(16)、电机(12)、冗余电机(3)、第一小环支撑杆件(15)、第二小环支撑杆件(8)、第三小环支撑杆件(4)、第四小环支撑杆件(13)、第一十字杆件(10)、第二十字杆件(6)、大环支撑杆件(2)组成。通过控制电机正反转实现直行移动、反向移动、转向移动、越障、连续下台阶和定向目标点移动,在教育、娱乐、军事等领域将得到很好的应用。
Rolling-rod-like mobile robot
一种类滚动杆式移动机器人
2023-11-10
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Bionic mobile robot with crawling and rolling functions
Europäisches Patentamt | 2020
|High-mobility elastic-rolling combined type mobile robot
Europäisches Patentamt | 2023
|NTRS | 1990
|