The invention discloses a flying-climbing-arm robot capable of achieving cross-domain operation and a control method of the flying-climbing-arm robot. The robot comprises four machine arms and a machine body. Each machine arm comprises a leg and foot module (2) and a deformable folding arm module (3); the leg and foot module (2) comprises a large arm and a middle arm, and the deformable folding arm module (3) is a small arm; wherein the first end of the big arm is connected with the fuselage through a big arm steering engine (101); the second end of the large arm is connected with the first end of the middle arm through a middle arm steering engine (201); the middle arm is provided with a hollow part, and the second end of the middle arm is attached to a rubber foot end foot pad (202) and is connected with the first end of the small arm through a free hinge shaft; a magnetic attraction device (302) is attached to the second end of the small arm; when the small arm contracts, the small arm is tightly attached to the hollow part of the middle arm through a magnetic attraction device (302) attached to the second end of the small arm; when the forearm extends, the forearm and the middle arm are limited and locked by the foot pad at the foot end of the middle arm to form a rigid body structure.
本发明公开了一种可实现跨域作业的“飞‑爬‑臂”机器人及其控制方法,该机器人包括四个机臂和机身;每个机臂包括:腿足模块(2),及可变形折叠臂模块(3);腿足模块(2)包括大臂和中臂,可变形折叠臂模块(3)为小臂;其中,大臂第一端与机身通过大臂舵机(101)连接在一起;大臂第二端与中臂第一端通过中臂舵机(201)连接在一起;中臂具有镂空部分,其第二端附着橡胶足端脚垫(202),通过自由铰接轴与小臂的第一端连接在一起;小臂的第二端附着磁吸装置(302);小臂收缩时,小臂通过其第二端附着的磁吸装置(302)紧贴中臂镂空部分;小臂伸展时,依靠中臂足端脚垫处的限位锁紧小臂和中臂形成刚体结构。
Flying-climbing-arm robot capable of achieving cross-domain operation and control method of flying-climbing-arm robot
一种可跨域作业的“飞-爬-臂”机器人及其控制方法
2024-02-06
Patent
Elektronische Ressource
Chinesisch
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