The invention belongs to the technical field of robots, and relates to a multi-modal operation robot which comprises a vehicle body and a plurality of deformation wheels symmetrically installed on the two sides of the vehicle body, and each deformation wheel comprises a deformation driving assembly arranged on a holder, a deformation transmission assembly matched with the deformation driving assembly and a plurality of hinge wheels arranged around the deformation driving assembly; annular stretching or closing of the hinge wheel relative to the deformation transmission assembly is achieved through the deformation driving assembly, and a power driving assembly is further arranged on one side of the deformation transmission assembly and used for achieving overall rotation of the deformation wheel. In order to achieve rotation of the deformation wheel and electrical decoupling of the deformation driving component, an electric slip ring is arranged on one side of the power driving assembly. The deformation wheel can be switched between a wheel mode and a claw mode in a self-help deformation mode, the wheel mode can advance on a flat road surface at a high speed with low power consumption, and the claw mode is particularly suitable for obstacle crossing advancing on a muddy and uneven road surface or mud flat.
本发明属于机器人技术领域,涉及一种多模态作业机器人,包括车体及对称安装于车体两侧的若干变形轮,变形轮包括设置于保持架上的变形驱动组件,与变形驱动组件配合的变形传动组件,以及设置在变形驱动组件周围的若干铰轮;通过变形驱动组件实现铰轮相对变形传动组件的环形舒展或闭合,在变形传动组件的一侧还设置有动力驱动组件用以实现变形轮整体旋转。为了实现变形轮的转动与变形驱动部件的电气解耦,在动力驱动组件的一侧设置有电滑环。变形轮可在轮或爪模式之间自助变形切换,轮模式可在平坦路面上高速低功耗行进,爪模式尤其适用于在泥泞不平的路面或滩涂上越障前进。
Multi-modal operation robot
一种多模态作业机器人
2024-03-12
Patent
Elektronische Ressource
Chinesisch
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