The invention discloses a multi-mode wheel step type self-adaptive deployable spherical reconnaissance robot which is characterized in that the multi-mode wheel step type self-adaptive deployable spherical reconnaissance robot comprises a machine shell; the idler wheel mechanisms are oppositely arranged on the two sides of the machine shell and comprise idler wheel driving steering engines and idler wheels composed of a plurality of ball pieces, the idler wheel driving steering engines are connected with the ball pieces through self-folding and unfolding structures, the unfolding assembly is connected with the idler wheel mechanisms and can enable the two idler wheel mechanisms to be separated or folded, and the tail rod is connected with the machine shell. The supporting device is used for supporting the balance robot and can be driven by a tail rod steering engine to be folded and unfolded, and the tail rod steering engine is installed on the machine frame shell. By means of the structure, when the robot encounters an obstacle, the ball pieces can complete automatic unfolding of the blades by means of friction force between the ball pieces and the obstacle through the self-folding and unfolding structures, and therefore the robot can walk in a wheel step type walking mode, and the obstacle crossing ability is improved.

    本发明公开了一种多模态轮步式自适应可展球形侦察机器人,多模态轮步式自适应可展球形侦察机器人,其特征在于:包括机壳体;滚轮机构,相对设置于机壳体两侧,包括滚轮驱动舵机、及若干球片构成的滚轮,所述滚轮驱动舵机通过自收展结构与球片连接,展开组件,与滚轮机构连接能够使两滚轮机构分开或是合拢,尾杆,用于支撑平衡机器人且通过尾杆舵机带动能够收展,所述尾杆舵机安装于所述机架壳体上。通过上述结构在遇到障碍时,通过自收展结构使球片能够依靠与障碍物的摩檫力完成叶片自动展开,从而可以以轮步式行走模式行走,从而提升越障能力。


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    Title :

    Multi-mode wheel step type self-adaptive deployable spherical reconnaissance robot


    Additional title:

    多模态轮步式自适应可展球形侦察机器人


    Contributors:
    LIU XINGJIE (author) / CHEN HAONAN (author) / SUO XUDONG (author) / LI RUI (author) / LYU KAILIN (author) / QIN JIANJUN (author)

    Publication date :

    2023-08-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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