A throwable rope-driven spherical wheel leg robot comprises a frame assembly, a leg and foot assembly, an omni-directional translation assembly and a leg and foot rope-driven assembly. The leg-foot assemblies are distributed in the circumferential direction of the frame assembly; the omni-directional translation assembly is arranged at the bottom of the frame assembly; the leg and foot rope driving assembly is arranged in the frame assembly and is in transmission connection with the leg and foot assembly; the number of the leg and foot assemblies is eight, and the eight leg and foot assemblies are evenly distributed in the circumferential direction. The number of the omni-directional translation assemblies is three, and the three omni-directional translation assemblies are evenly distributed in the circumferential direction. The robot is divided into an initial throwing spherical mode, a six-foot walking mode, an eight-foot rolling moving mode and an omnidirectional moving mode. The device can pass through a narrow channel or an obstacle in a throwing mode, the purposes of rapidly reaching the narrow environment and playing a rescue role are achieved, the device has the advantages of being flexible in movement capacity and free of steering in the narrow environment, movement modes can be converted according to different ground environments, and the rescue efficiency in the narrow environment is effectively improved.

    一种可抛掷绳驱动式球形轮腿机器人,包括框架组件、腿足组件、全向平移组件及腿足绳驱组件;腿足组件沿框架组件圆周方向分布;全向平移组件设置在框架组件底部;腿足绳驱组件设置在框架组件内部,腿足绳驱组件与腿足组件传动连接;腿足组件数量为八条,八条腿足组件沿圆周方向均匀分布;全向平移组件数量为三个,三个全向平移组件沿圆周方向均匀分布;机器人分为初始抛掷球形模式、六足行走模式、八足滚转移动模式及全向移动模式。本发明可通过抛掷方式穿越狭小通道或障碍物,实现快速到达狭窄环境并发挥救援作用的目的,在狭窄环境中具有灵活的运动能力和无需转向的优势,可根据不同的地面环境进行运动模式的转化,有效提高狭窄环境的救援效率。


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    Title :

    Throwable rope driving type spherical wheel leg robot


    Additional title:

    一种可抛掷绳驱动式球形轮腿机器人


    Contributors:
    TAO GUANGHONG (author) / YUE SIBO (author) / ZHANG YUBO (author) / TIAN FENGCHI (author)

    Publication date :

    2024-10-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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