The invention discloses a spherical robot with a deformable obstacle crossing impeller structure, which comprises a middle driving mechanism, a tail rod supporting mechanism and deformation mechanisms oppositely arranged on the two sides of the middle driving mechanism, the tail rod supporting mechanism is fixedly connected to the middle driving mechanism, and each deformation mechanism comprises a second driving unit and a plurality of impellers. The impeller can be driven by the second driving unit to be unfolded or contracted into a wheel shape, a first driving unit is arranged in the middle driving mechanism, and the deformation mechanism is connected with the first driving unit and driven by the first driving unit to rotate. The robot can realize multi-form conversion, has the advantages of round wheels and leg wheels, not only can quickly move on the flat ground, but also can adapt to complex environments and multi-terrain obstacle crossing, and has better stability and simpler structure compared with a traditional robot.
本发明公开了一种可变形越障叶轮结构的球形机器人,包括中间驱动机构、尾杆支撑机构以及相对设置于中间驱动机构两侧的变形机构,所述尾杆支撑机构固定连接在所述中间驱动机构上,所述变形机构包括驱动单元二及若干叶轮,所述叶轮能够在驱动单元二的带动下展开或收缩成轮状,所述中间驱动机构内设驱动单元一,所述变形机构与驱动单元一连接且在驱动单元一的驱动下转动。本机器人能够实现多形态转换且兼具圆轮和腿轮的优点,不仅能够在平地上快速移动而且能够适应复杂环境以及多地形越障,相对于传统机器人具有更好的平稳性和更简单的结构。
Spherical robot with deformable obstacle crossing impeller structure
一种可变形越障叶轮结构的球形机器人
2023-10-20
Patent
Electronic Resource
Chinese