The reconfigurable robot comprises a body, a controller installed on the body and a plurality of walking mechanisms, and the multiple walking mechanisms are installed on the two opposite sides of the body and conduct body movement under the control of the controller; the body comprises a plurality of unit joints, rotating joints and an adjusting mechanism; each unit joint is provided with a frame and a rolling part arranged on the frame; the frames in the plurality of unit joints are arranged in sequence and are rotationally connected through rotational joints; the rolling parts in different unit sections are positioned on the opposite same side of the frame; the adjusting mechanisms are used for driving the adjacent frames to rotate around the rotating joints so as to drive the frames in the unit joints to be flush with one another, so that the body is unfolded to be in a plane form capable of crawling; and driving the frames in the plurality of unit sections to be enclosed and connected end to end, so that the body is contracted into a ball shape capable of rolling. The robot can freely switch forms according to use scenes, and has strong exploration capability and extremely strong obstacle crossing capability.
本发明公开了一种可重构机器人,包括躯体、安装在躯体上的控制器以及多个行走机构,多个行走机构安装在躯体的相对两侧,并在控制器的控制下进行躯体的运动;躯体包括多个单元节、转动关节以及调节机构;单元节具有框架和设置在框架上的滚动部;多个单元节中的框架依次排列并通过转动关节进行转动连接;其中,不同单元节中的滚动部位于框架的相对同侧;调节机构用于驱动相邻框架围绕转动关节产生转动,以驱动多个单元节中的框架相平齐而使得躯体展开为能够进行爬行的平面形态;和,驱动多个单元节中的框架相围合并首尾相接而使得躯体收缩为能够进行滚动的球形态。本发明能够根据使用场景进行形态的自由切换,具有强大的探索能力和极强的越障能力。
Reconfigurable robot
一种可重构机器人
2023-05-23
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |