The modular multi-mode tensioning mobile robot comprises a plurality of moving units, each moving unit comprises a left rigid tie bar and a right rigid tie bar which are symmetrically arranged on the left side and the right side, and a front driving rack located on the front side and a rear driving rack located on the rear side are arranged between the left rigid tie bars and the right rigid tie bars; an upper row and a lower row of one-way wheel foot groups are arranged between the left rigid tie bar and the right rigid tie bar, the one-way wheel foot groups walk close to the ground, and sliding cable groups for adjusting the bar system are further arranged in the left rigid tie bar and the right rigid tie bar. According to the invention, a single moving unit controls the cable lengths of upper and lower rows of sliding cables through a front driving device and a rear driving device, so that a connecting rod frame moves, the moving units form a wriggling and inchworm motion form through the combination of the connecting rod frame and the sliding cables, and different numbers of moving units are connected with a butt joint device through an adsorption device; the connected robot can realize more motion modes through the combination of motion forms.

    本发明公开了一种模块化多模式张拉移动机器人,包括多个移动单元,移动单元包括左右两侧对称布设的左刚性系杆、右刚性系杆,左刚性系杆、右刚性系杆之间设置有位于前侧的前驱动机架、位于后侧的后驱动机架,左刚性系杆、右刚性系杆之间设置有上下双排单向轮足组,单向轮足组紧贴地面行走,左刚性系杆、右刚性系杆中还设置有进行杆系调节的滑移索组。本发明中单个移动单元通过前驱动装置、后驱动装置控制上下两排滑移索的索长使连杆架产生运动,连杆架与滑移索的组合使移动单元形成蠕动与尺蠖运动形式,不同数量的移动单元通过吸附装置与对接装置连接后,连接后的机器人通过运动形式的组合可实现更多的运动模式。


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    Title :

    Modularized multi-mode tensioning mobile robot


    Additional title:

    一种模块化多模式张拉移动机器人


    Contributors:
    LIAN BINBIN (author) / YU ZE (author) / SUN TAO (author) / YANG QI (author)

    Publication date :

    2024-03-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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