The invention relates to the technical field of underground space application robots, in particular to a dislocation type obstacle crossing robot with a foot end folding and unfolding function, which comprises a moving system, a control system and a folding and unfolding system, the moving system comprises an upper platform, a lower platform and three R (Pa) PU branch chains for connecting the two platforms, each of the two platforms is provided with three groups of moving feet, the three R (Pa) PU branch chains are all connected in series through rotating pairs, plane parallelogram mechanisms, moving pairs and hooke joints and can be independently controlled, and telescopic movement of the two platforms in the vertical direction is achieved. The control system is arranged on the lower surface of the upper platform and connected with the rotating pair so as to control the two platforms to move in a staggered mode in the horizontal direction. The folding and unfolding system is connected with the moving feet and comprises a limiting piece arranged on the moving feet in a sleeving mode, a folding and unfolding plate and a folding and unfolding assembly connected with the limiting piece and a moving rod of the folding and unfolding plate, and the limiting piece controls the moving rod to move in the axial direction of the moving feet so that the folding and unfolding plate can be unfolded or folded. And the capacity of the robot for passing through complex terrains and the desinking capacity of the robot in sludge are improved.

    本发明涉及地下空间应用机器人技术领域,尤其涉及一种具有足端折展功能的错动型越障机器人,包括移动系统、控制系统和折展系统,移动系统包括上平台、下平台和连接两平台的三条R(Pa)PU支链,两平台各具有三组移动足,三条R(Pa)PU支链均由转动副、平面平行四边形机构、移动副和虎克铰串联,且能单独控制,实现两平台在竖直方向的伸缩运动;控制系统设置于上平台的下表面,与转动副连接,以控制两平台在水平方向的错动运动;折展系统与移动足连接,其包括具有套设于移动足上的限位件、折展板和连接限位件和折展板的移动杆的折展组件,限位件控制移动杆沿移动足的轴向方向运动,以使折展板展开或收缩。提高了机器人通过复杂地形的能力和在淤泥中的脱陷能力。


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    Title :

    Displacement type obstacle crossing robot with foot end folding and unfolding function


    Additional title:

    一种具有足端折展功能的错动型越障机器人


    Contributors:
    CHAI CHAO (author) / LI RUIQIN (author) / HU WEIWEI (author)

    Publication date :

    2024-02-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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