The invention discloses a separable air-ground amphibious wheel-leg composite robot. The composite robot is composed of a wheel-leg composite robot body and a four-rotor aircraft. The wheel-leg composite robot and the four-rotor aircraft can achieve autonomous separation and combination of the two robots through a separation and combination mechanism at the top of the wheel-leg composite robot, and when the two robots are combined, the land-air dual-purpose wheel-leg composite robot with the ground movement capacity and the flight capacity is formed. Various complex ground motions can be realized through the wheel-leg composite robot at the bottom, and various complex flight motions can be realized through the four-rotor aircraft at the top; and meanwhile, the four-rotor aircraft can assist the robot in keeping balance and stably completing respective movement, and cooperative control between the wheel-leg composite robot at the bottom and the four-rotor aircraft at the top is achieved. When the wheel-leg combined robot and the four-rotor aircraft are separated, the wheel-leg combined robot and the four-rotor aircraft are two independent robots, and the two robots can be independently controlled, achieve various complex motions of the two robots respectively and can work cooperatively, for example, land-air cooperative all-dimensional integrated investigation is carried out.
本发明公开了可分离式陆空两栖轮腿复合机器人,复合机器人由轮腿复合机器人和四旋翼飞行器两部分构成。轮腿复合机器人与四旋翼飞行器通过轮腿复合机器人顶部的分离结合机构可以实现两个机器人地自主分离和结合,当两者结合时构成一个既具有地面运动能力又具有飞行能力的陆空两用的轮腿复合机器人,既可以通过底部的轮腿复合机器人实现各种复杂的地面运动,又可以通过顶部的四旋翼飞行器可以实现各种复杂的飞行运动;同时四旋翼飞行器能够辅助机器人保持平衡以及平稳的完成各自运动,实现底部的轮腿复合机器人和顶部的四旋翼飞行器两者之间的协同控制。当两者分离时,会形成轮腿复合机器人和四旋翼飞行器两个独立的机器人,两个机器人可以各自独立的进行控制,分别实现各自的各种复杂的运动,同时又可以协同作业,如进行陆空协同全方位一体化侦查。
Separable air-ground amphibious wheel-leg composite robot
可分离式陆空两栖轮腿复合机器人
2024-07-02
Patent
Electronic Resource
Chinese
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