The invention belongs to the technical field of flying robots, and provides a robot spherical wheel foot which has a protective property and can move in a full-degree-of-freedom mode. The robot spherical wheel foot comprises an outer frame, a middle frame and an inner shaft, the outer frame is of a spherical frame structure, and a supporting plane for a flying robot to take off and land is arranged on the outer frame; the middle frame is of an annular structure and is movably installed in the outer frame through a motion isolation bearing. The inner shaft is of a straight rod structure and is movably installed in the middle frame through a motion isolation bearing. The flying robot is movably installed on the inner shaft through the motion isolation bearing. According to the robot spherical wheel foot, the three-axis motion principle is adopted, namely three-axis complete rotary motion in the yawing direction, the pitching direction and the rolling direction is formed in the space, the three-axis complete rotary motion is overlapped to form a full-degree-of-freedom motion posture, flight safety is guaranteed, the skill requirement of a flying robot for an operator is greatly lowered, and the flight speed is increased. The technical problems that a flying robot is not easy to apply in a narrow closed and obstacle forest environment and the operation requirement is high are solved.

    本发明属于飞行机器人技术领域,提出了一种具有防护性且可全自由度运动的机器人球形轮足。该机器人球形轮足,包括外框、中框和内轴,外框为球形框架结构,其上具有供飞行机器人起飞和降落的支撑平面;中框为圆环形结构,通过运动隔离轴承活动安装在外框内;内轴为直杆结构,通过运动隔离轴承活动安装在中框内;飞行机器人通过运动隔离轴承活动安装在内轴上。所述机器人球形轮足采用三轴运动原理,即在空间上形成偏航方向、俯仰方向及滚转方向的三轴完全回转运动,相互叠加形成全自由度的运动姿态,保障飞行安全、大幅降低飞行机器人对操作者的技能要求,解决了飞行机器人在封闭狭小、障碍物林立环境不易应用且操作要求较高的技术问题。


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    Title :

    Robot spherical wheel foot with protective property and full-degree-of-freedom movement


    Additional title:

    一种具有防护性且可全自由度运动的机器人球形轮足


    Contributors:
    WANG TAO (author) / WANG HONGBIN (author) / SHI TENG (author)

    Publication date :

    2023-06-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64U / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT



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