The invention discloses a rigid-flexible coupling high-adaptability microminiature rescue robot which comprises a walking mechanism, a driving mechanism and a driving mechanism. The steering mechanism is connected with the walking mechanism; the steering mechanism comprises an elastic piece connected with the walking mechanism; the steering mechanism shell is connected with the elastic piece; the steering stay wire mechanism is arranged in the steering mechanism shell; and the rolling piece is arranged on the steering mechanism shell. The overall contour of the robot is designed to be circular, so that the maneuverability of the robot in a narrow environment is improved, and meanwhile, the robot is effectively prevented from being troubled by small obstacles. The robot consists of three parts: the front part is a rigid body and is provided with a multi-stage gear system driven by a motor so as to synchronously drive wheels distributed circumferentially; and the middle part is a flexible body, and a steering mechanism that a spring is driven by a wire is adopted, so that steering in any direction can be realized to adapt to a complex walking environment in a ruins environment. The rear portion is a rigid body, and a motor is used for providing steering power so as to achieve steering driving.

    本发明公开了一种刚柔耦合的高适应性微小型救援机器人,包括:行走机构;与行走机构连接的转向机构;转向机构包括:与行走机构连接的弹性件;与弹性件连接的转向机构壳体;安装在转向机构壳体内的转向拉线机构;安装在转向机构壳体上的滚动件。本发明将机器人整体轮廓设计为圆形,以提高其在狭窄环境中的机动性,同时有效避免被小障碍物所困扰。本发明的机器人由三个部分组成:前部是刚性体,配备一个电机驱动的多级齿轮系统,以同步驱动圆周分布的轮子。中部是柔性体,采用了由线驱动弹簧的转向机制,能够实现任意方向的转向,以适应废墟环境中复杂的行走环境。后部是刚性体,使用电机提供转向动力,以实现转向驱动。


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    Title :

    Rigid-flexible coupled high-adaptability microminiature rescue robot


    Additional title:

    一种刚柔耦合的高适应性微小型救援机器人


    Contributors:
    ZHOU XUANYI (author) / BAO GUANJUN (author) / CAI SHIBO (author) / DAI HAOKAI (author) / LI KE (author)

    Publication date :

    2024-05-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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