The invention relates to the technical field of robots, and particularly discloses an empty-wall cross-medium robot which has a coupling state and a decoupling state and comprises a four-rotor unmanned aerial vehicle, two double-rotor bodies, two coupling mechanisms and at least one walking mechanism. The two coupling mechanisms are fixedly arranged on the four-rotor unmanned aerial vehicle, and the two coupling mechanisms are used for driving the two double-rotor vehicle bodies to turn over correspondingly, so that the double-rotor vehicle bodies and the four-rotor unmanned aerial vehicle are switched between the coupling state and the decoupling state; the at least one walking mechanism is fixedly arranged on the four-rotor unmanned aerial vehicle; the problems that an existing cross-medium robot is high in requirement for the gravity center and a controller and limited in anti-interference capacity are solved, the robot can achieve smooth switching between the empty medium and the wall medium in a complex interference scene, meanwhile, a crawling component and a flying component are combined for application, and good anti-interference capacity and loading capacity are achieved.
本发明涉及机器人技术领域,具体公开一种空壁跨介质机器人,具有耦合状态和解耦合状态,其包括:四旋翼无人机、两个双旋翼机身、两个耦合机构和至少一个行走机构;所述两个耦合机构固定地配置在所述四旋翼无人机上,两个所述耦合机构用于分别驱动两个所述双旋翼机身翻转,以使所述双旋翼机身与四旋翼无人机在所述耦合状态和解耦合状态之间切换;所述至少一个行走机构固定地配置在所述四旋翼无人机上;解决了现有跨介质机器人重心和控制器的高要求以及抗干扰能力有限的问题,使得机器人能在复杂干扰场景下实现“空‑壁”两种介质之间的平滑切换,同时将爬行部件与飞行部件结合运用,具有较好的抗干扰和带负载能力。
Hollow wall cross-medium robot
LIAN SHIKANG / LI CHENG / MENG WEI / LU RENQUAN / ZHANG BIN
Patent
Elektronische Ressource
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