The invention discloses a deformation wheel type throwing robot based on rigid-flexible combination. The deformation wheel type throwing robot comprises a robot body, a motion transmission mechanism, a flexible deformation wheel set and a tail boom. The at least two flexible deformation wheel sets are arranged on the two sides of the machine body respectively, and one flexible deformation wheel set comprises a deformation wheel and a flexible wheel which are coaxially arranged. The motion transmission mechanism is arranged on the machine body and used for driving the flexible deformation wheel set to rotate. The tail boom adopts a foldable structure and is arranged at the tail part of the fuselage; when the robot advances, the tail boom extends out of the tail of the robot body to prevent the robot from overturning during advancing, and when the robot is thrown, the tail boom is folded to prevent the robot from colliding with the ground and being damaged. The obstacle crossing performance of the robot is improved under the condition that it is guaranteed that the robot has enough impact resistance.
本发明公开了一种基于刚柔结合的变形轮式抛投式机器人,包括机身、运动传动机构、柔性变形轮组和尾撑;所述柔性变形轮组至少设置两组并分设于机身的两侧,一组柔性变形轮组包括同轴设置的变形轮和柔性轮;所述运动传动机构设置于机身,用于驱动柔性变形轮组转动;所述尾撑采用可折叠结构,其设置于机身尾部;当机器人行进时,所述尾撑从机身尾部伸出以避免机器人行进时倾覆,当机器人被抛投时,尾撑收折以避免其与地面碰撞受损;本发明在保证机器人有足够抗冲击能力的情况下,增大机器人的越障性能。
Deformation wheel type throwing robot based on rigid-flexible combination
一种基于刚柔结合的变形轮式抛投式机器人
2023-12-15
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge / B60B VEHICLE WHEELS , Räder für Fahrzeuge / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / B60S SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR , Warten, Reinigen, Instandsetzen, Unterstützen, Anheben oder Rangieren von Fahrzeugen, soweit nicht anderweitig vorgesehen |
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