The invention discloses a spherical self-balancing exploration robot and a walking method, and relates to the technical field of exploration and rescue in complex environments, a chassis and a horizontal device are located in a shell, the horizontal device and the shell can roll relatively, and a plurality of openings matched with walking legs are formed in the shell; the walking legs are connected with the chassis through walking driving structures respectively, the walking driving structures are used for driving the walking legs to move, and after the walking driving structures drive the walking legs to retract, the walking legs and the shell form a spherical structure. The spherical self-balancing exploration robot is spherical after the walking legs are recovered, and different from a mainstream hexapod robot, the spherical self-balancing exploration robot mainly has two motion modes including a rolling mode and a crawling mode. During rolling, the walking legs can automatically retract to designated positions, and the walking legs can roll on specific terrains by utilizing the spherical structures, so that energy can be saved; during walking, the walking driving structure drives all the walking legs to move, and crawling is achieved.

    本发明公开了一种球形自平衡探索机器人及行走方法,涉及复杂环境下的勘探救援技术领域,底盘和水平装置位于外壳中,水平装置和外壳能够相对滚动,外壳上开设有若干与行走腿匹配的开口,若干行走腿分别通过一行走驱动结构与底盘连接,行走驱动结构用于驱动行走腿运动,各行走驱动结构驱动行走腿回收后,各行走腿与外壳形成球形结构。本发明的球形自平衡探索机器人在各行走腿回收后为球状,区别于主流六足机器人,本发明的球形自平衡探索机器人运动形式主要有滚动模式和爬行模式两种。滚动时,其行走腿可以自行收缩到指定位置,在特定地形可以利用球形结构进行滚动,所以能做到节约能源;行走时,行走驱动结构驱动各行走腿运动,实现爬行。


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    Title :

    Spherical self-balancing exploration robot and walking method


    Additional title:

    一种球形自平衡探索机器人及行走方法


    Contributors:
    NIU CHENGUANG (author) / YANG ZHENZE (author) / MA YISHUN (author) / NIU LINKAI (author) / LIU YIWEI (author) / FENG HAI (author) / WANG YIFEI (author) / FU TAO (author)

    Publication date :

    2023-08-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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