The invention discloses a reconfigurable heterogeneous spherical robot with multiple motion modes. The spherical robot is composed of a parent spherical robot, a plurality of child spherical robots capable of being butted, a plurality of three-drive child spherical robots, a plurality of elastic damping drive butting mechanisms capable of capturing, butting and ejecting the child spherical robots capable of being butted, and a plurality of elastic damping driving mechanisms capable of capturing, butting and ejecting the child spherical robots capable of being butted. The elastic drive docking mechanisms can capture and eject the three-drive sub-body spherical robots. Each docking sub-body spherical robot is combined with and separated from the parent body spherical robot through an elastic damping driving docking mechanism; each three-drive child spherical robot is combined with and separated from the parent spherical robot through an elastic drive butt joint structure. Through the design of deformation, combination and separation of the three types of spherical robots, the purpose that the heterogeneous spherical robot has reconfigurability and multiple motion modes is achieved, and the requirement for autonomous collaborative operation in complex environments such as extraterrestrial planets, forest karst caves and mine ruins is met.

    本发明公开了一种可重构多运动模式异构球形机器人,它由一个母体球形机器人、若干个可对接子体球形机器人、若干个三驱动子体球形机器人、若干个可捕获‑对接‑弹射可对接子体球形机器人的弹性阻尼驱动对接机构、若干个可捕获‑弹射三驱动子体球形机器人的弹性驱动对接机构组合而成。每个可对接子体球形机器人通过一个弹性阻尼驱动对接机构与母体球形机器人组合、分离;每个三驱动子体球形机器人通过一个弹性驱动对接结构与母体球形机器人组合、分离。本发明通过对三类球形机器人的变形、组合和分离的设计,达到使异构球形机器人具备可重构和多种运动模式的目的,满足在地外星球、森林溶洞、矿井废墟等复杂环境中自主协同作业的需求。


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    Title :

    Reconfigurable multi-motion-mode heterogeneous spherical robot


    Additional title:

    可重构多运动模式异构球形机器人


    Contributors:
    SUN HANXU (author) / HUO DONGSHUAI (author) / LAN XIAOJUAN (author) / SONG JINGZHOU (author) / SUN PING (author) / LI MINGGANG (author) / WANG ZHANTONG (author) / WANG XUAN (author) / MA LONG (author)

    Publication date :

    2023-05-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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