The invention discloses a self-reconfiguration wavy crawling robot and a control system thereof, and relates to the technical field of self-reconfiguration robots. The self-reconfiguration wave-shaped crawling robot comprises a plurality of wave-shaped crawling mechanisms, a series connection mechanism and a parallel connection mechanism. The wavy crawling mechanism comprises a motor, a gear set, a screw rod, a chain rod, a screw rod seat and a motor seat; an output shaft of the motor is connected with the uppermost gear of the gear set, one end of the screw rod penetrates through a bearing of the motor base to be connected with the lowermost gear of the gear set, and the other end of the screw rod is connected with a bearing of the screw rod base. The chain rods are sequentially connected through the shaft pins and arranged above the spiral rods in a sleeving mode. The self-reconfiguration wavy crawling robots are connected in series through the series connection mechanism and connected in parallel through the parallel connection mechanism. According to changes of tasks and environments, the robot can be automatically assembled by means of a control method, a control system and a designed serial/parallel connection mode, and therefore the robot has the self-reconfiguration capacity to deal with complex and difficult tasks.

    本发明公开了一种自重构波状爬行机器人及其控制系统,涉及自重构机器人技术领域。自重构波状爬行机器人包括若干波状爬行机构、串联连接机构和并联连接机构;波状爬行机构包括电机、齿轮组、螺旋杆、链杆、螺旋杆座和电机座;电机的输出轴与齿轮组最上方的齿轮连接,螺旋杆的一端穿过电机座的轴承与齿轮组最下方的齿轮连接,另一端与螺旋杆座的轴承连接;链杆通过轴销依次连接,套于螺旋杆上方;若干自重构波状爬行机器人通过串联连接机构进行串联连接,通过并联连接机构进行并联连接。本发明能够根据任务和环境的变化,依靠控制方法、控制系统和所设计的串/并联连接方式自动地组装,从而使机器人具备自重构的能力以应对复杂困难的任务。


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    Title :

    Self-reconfiguration wavy crawling robot and control system thereof


    Additional title:

    一种自重构波状爬行机器人及其控制系统


    Contributors:
    SUN NING (author) / SON HO-SUNG (author) / WU QINGXIANG (author) / WANG XUEBING (author) / FANG YONGCHUN (author)

    Publication date :

    2023-06-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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