The invention discloses a multi-mode climbing and rolling robot which comprises a passive butt joint platform, an active butt joint platform, eight swing rods, eight connecting rods, eight auxiliary connecting rods and 25 motors. A motor is arranged at each of four end parts of the passive docking platform and the active docking platform; a motor shaft is connected with a swing rod; a motor is arranged at one end of each connecting rod, and a motor shaft is fixed with the swing rod. Each auxiliary connecting rod adjacent to the connecting rod is provided with two motors, and a motor shaft is connected with the connecting rod and the other auxiliary connecting rod. The passive butt joint platform is provided with a passive butt joint device, the active butt joint platform is provided with an active butt joint device, the passive butt joint device is provided with four butt joint hooks, each butt joint hook is provided with a groove with a wedge-shaped face, and the groove can be matched with a locking blade of the active butt joint device to achieve locking. The robot can be transformed into a rolling robot and a crawling robot by controlling the positions of the eight swing rods and the eight connecting rods, and the moving capacity of the robot is improved through changes of multiple movement modes.
本发明公开一种多模式爬滚机器人,包括被动对接平台、主动对接平台,8个摆杆,8个连杆、8个辅助连杆和25个电机;被动对接平台和主动对接平台的四个端部各设有1个电机,电机轴分别连接1个摆杆;每个连杆的一端都设有1个电机,电机轴与摆杆固定。每个与连杆相邻的辅助连杆设有2个电机,电机轴分别连接连杆与另一个辅助连杆。被动对接平台设有被动对接器,主动对接平台设有主动对接器,被动对接器有四个对接钩,每个对接钩都有一个带楔形面的凹槽,可与主动对接器的锁止叶片配合实现锁止。本发明通过控制八个摆杆和八个连杆的位置可以变形成为滚动机器人和爬行机器人,通过多种运动模式的变化提高了机器人的移动能力。
Multi-mode climbing and rolling robot
一种多模式爬滚机器人
2024-01-30
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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