The invention belongs to the technical field of ground, water surface and underwater mobile platforms and robots, and relates to a mobile robot which comprises a body, a rear drive assembly installed on the rear portion of the body, a front drive assembly installed on the front portion of the body, a middle drive assembly installed in the middle of the body and an electrical assembly installed in the body. The rear drive assembly, the front drive assembly and the middle drive assembly are electrically connected with the electrical assembly. By arranging the front-drive assembly and the rear-drive assembly, posture transformation and configuration transformation of the front wheel train and the rear wheel train are achieved, multi-mode operation such as movement and adsorption of the whole robot in a wheel mode and a claw mode on the ground, the water surface and the water environment is achieved in cooperation with the middle-drive assembly, the robot adapts to the air-ground-water multi-habitat operation environment and the like, and the global operation requirement is met. By means of the mode switching mechanism, 90-degree horizontal fast turning over and 90-degree vertical fast turning over of the gear train are fast achieved, the number of executing mechanisms is effectively reduced, the structural size is reduced, and the stability of mode switching is improved.
本发明属于地面、水面及水下移动平台和机器人技术领域,涉及一种移动机器人,包括本体,安装于本体后部的后驱组件,安装于本体前部的前驱组件,安装于本体中部的中驱组件,安装于本体内的电气组件,后驱组件、前驱组件以及中驱组件在电气上连接电气组件。通过设置前驱组件、后驱组件,实现对前后轮系的姿态变换和构型变换,配合中驱组件实现对机器人整体的轮模式、爪模式在地面、水面及水中环境中实现运动、吸附等多模态作业,适应空‑地‑水等多栖作业环境,满足全域作业需求。快速实现对轮系的90度水平向快速翻转以及轮系90度垂直向快速翻转,有效降低执行机构数量,减少结构体积,提高模态切换的稳定性。
Mobile robot and working method
一种移动机器人及工作方法
2024-08-27
Patent
Electronic Resource
Chinese
IPC: | B60F VEHICLES FOR USE BOTH ON RAIL AND ON ROAD , Fahrzeuge für den Verkehr sowohl auf Schienen als auch auf Straßen / B62D MOTOR VEHICLES , Motorfahrzeuge / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen |
Omnidirectional driving mechanism, mobile robot and working method
European Patent Office | 2021
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