The invention discloses a three-mode obstacle crossing robot and method, the robot comprises a plurality of deformable obstacle crossing wheels movably connected with a machine body, the obstacle crossing wheels are connected with an obstacle crossing wheel system and a flight system, and under the driving of the obstacle crossing wheel system and the flight system, switching of three motion modes of the obstacle crossing robot is achieved. When the obstacle-crossing robot encounters a flat road section, the obstacle-crossing wheel system drives the arc-shaped obstacle-crossing legs to deform, so that the obstacle-crossing wheels contract and are switched to a pure rolling mode; when the obstacle crossing robot encounters an obstacle, the height of the obstacle is smaller than the unfolding diameter of the obstacle crossing wheels, the obstacle crossing wheel system drives the arc-shaped obstacle crossing legs to deform, the obstacle crossing wheels are unfolded, and the obstacle crossing mode is switched; when the obstacle-crossing robot encounters an obstacle, the height of the obstacle is larger than the unfolding diameter of the obstacle-crossing wheels, the flight system drives the obstacle-crossing wheels to be turned over upwards, and a flight mode is switched; the robot is simple and compact in structure, motion modes can be freely switched, the environmental adaptability of the robot is greatly improved, and the robot has good application and popularization value.
本发明公开了一种三模式越障机器人及方法,本机器人包括与机体活动连接的多个可变形的越障轮,越障轮连接了越障轮系统以及飞行系统,在越障轮系统以及飞行系统带动下,实现越障机器人三个运动模式的切换,当越障机器人遇到平整路段,越障轮系统带动弧形越障腿变形,使得越障轮收缩,切换至纯滚动模式;当越障机器人遇到障碍物,障碍物高度小于越障轮展开直径,越障轮系统带动弧形越障腿变形,使得越障轮展开,切换至越障模式;当越障机器人遇到障碍物,障碍物高度大于越障轮展开直径,飞行系统带动越障轮向上翻折,切换至飞行模式;本机器人结构简单紧凑,可以自由切换运动模式,极大地提高了机器人的环境适应性,具有良好的推广应用价值。
Three-mode obstacle crossing robot and method
一种三模式越障机器人及方法
2024-03-05
Patent
Electronic Resource
Chinese
Obstacle-crossing inspection robot and obstacle-crossing method
European Patent Office | 2020
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