A throwing, folding and unfolding spherical robot comprises an upper robot body, a lower robot body, folding and unfolding arms and electric omnidirectional wheels. A plurality of tension springs are connected between the upper machine body and the lower machine body and are uniformly distributed in the circumferential directions of the upper machine body and the lower machine body; the folding and unfolding arms are evenly distributed in the circumferential direction of the upper machine body and the lower machine body, one end of each folding and unfolding arm is hinged to the upper machine body, and the other end of each folding and unfolding arm is connected with the lower machine body in a locking and clamping mode. The electric omnidirectional wheels are arranged on the inner sides of the middle parts of the folding and unfolding arms; the gravity center of the throwable folding and unfolding spherical robot is located in the lower robot body. The throwable folding and unfolding spherical robot can cross an obstacle to enter a site in a spherical initial state in a throwing mode, can be changed into an omnidirectional translation type configuration from the spherical initial state after entering the site, and then can go deep into a ruin slit for searching according to a working mode of a ground marching type robot; searching work of trapped persons is carried out by fully utilizing precious gold rescue time.

    一种可抛掷折展球形机器人,包括上机体、下机体、折展臂及电动全向轮;上机体与下机体之间连接有拉力弹簧,拉力弹簧数量若干,若干拉力弹簧沿上机体和下机体的圆周方向均匀布设;折展臂数量若干,若干折展臂沿上机体和下机体的圆周方向均匀布设,折展臂一端与上机体相铰接,折展臂另一端与下机体锁卡连接;电动全向轮设置在折展臂的中部内侧;可抛掷折展球形机器人的重心位于下机体内部。本发明的可抛掷折展球形机器人能够以球形初始状态并以抛掷方式越过障碍进入现场,进行现场后可由球形初始状态变为全向平移式构型,之后可以按照地面行进式机器人的工作方式深入废墟狭缝内部进行搜索,充分利用宝贵的黄金救援时间开展受困者的搜寻工作。


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    Title :

    Spherical robot capable of being thrown, folded and unfolded


    Additional title:

    一种可抛掷折展球形机器人


    Contributors:
    TAO GUANGHONG (author) / YANG TAO (author) / YUE SIBO (author) / ZHENG NAIFU (author) / ZHAO SIHAN (author)

    Publication date :

    2023-09-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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