The invention discloses a separable climbing and rolling robot which comprises a robot RA composed of an upper platform assembly, six upper branch chain assemblies and six active docking devices and a robot RB composed of a lower platform assembly, six lower branch chain assemblies and six passive docking devices. The six passive butt joint devices are installed at the ends of the six lower branch chain assemblies respectively. The six active butt joint devices are installed at the ends of the six upper branch chain assemblies respectively. The active butt joint device is provided with blades driven by the rotary table to rotate, the passive butt joint device is inserted into the active butt joint device during butt joint, and the rotary table drives the blades to rotate and be inserted into grooves in the axial direction of the passive butt joint device. The robot can be converted between a crawling mode and a rolling mode by controlling the positions of rod pieces in all the branch chain assemblies. The robot can be mutually converted between an overall motion mode and a split motion mode by controlling butt joint and unlocking of the joint butt joint mechanisms, and the moving capacity, the environment adaptability and the working efficiency are improved.
本发明公开一种可分离爬滚机器人,包括由上平台组件、六条上支链组件和六个主动对接器组成机器人RA,以及由下平台组件、六条下支链组件和六个被动对接器组成机器人RB。六个被动对接器分别安装于六条下支链组件端部;六个主动对接器分别安装于六条上支链组件端部。主动对接器具有由转台带动转动的叶片,对接时被动对接器插入主动对接器内,由转台带动叶片转动插入被动对接器轴向上的凹槽内实现。通过控制各个支链组件中的杆件位置可使机器人在爬行模式和滚动模式之间相互转化;通过控制关节对接机构的对接和解锁可以使机器人在整体运动模式和分体运动模式之间相互转化高了移动能力和环境适应能力和工作效率。
Separable climbing and rolling robot
一种可分离爬滚机器人
2023-08-22
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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