The invention discloses an amphibious wheel leg type obstacle crossing robot. A main body support of the obstacle crossing robot carries out overall supporting, four deformation wheels are symmetrically installed at the four corners of the bottom of the main body support respectively and carry out various motions, a lifting mechanism is installed in the center of the bottom face of the top of the main body support, and a sealed cabin is installed on the bottom face of the lifting mechanism and moves into water through the lifting mechanism for detection. And the detection control system is mounted in the sealed cabin and is used for detecting the external environment and controlling the obstacle crossing robot. According to the three-dimensional environment reconstruction analysis result, the unfolding degree and the deformation time sequence of the two pairs of front and rear deformation wheels of the obstacle crossing robot can be controlled, the wheel type mode and the leg type mode are flexibly switched, various movement modes such as rolling, climbing, walking and water surface sliding are achieved, various unstructured terrains are overcome, and the obstacle crossing robot can be used for obstacle crossing. The lifting design of the sealed cabin and the camera arranged in the arc cover at the front end of the sealed cabin can be used for providing buoyancy, adjusting postures and underwater detection.

    本发明公开了一种水陆两栖轮腿式越障机器人。越障机器人的主体支架进行整体支撑,四个变形轮分别对称安装在主体支架底部的四角处并进行多种运动,升降机构安装在主体支架的顶部底面中心,密封舱安装在升降机构的底面并通过升降机构移动至水中进行探测,探测控制系统安装在密封舱中并进行外部环境的探测以及越障机器人的控制。本发明可根据三维环境重构分析结果,控制越障机器人的前后两对变形轮的展开程度与变形时序,灵活切换轮式与腿式两种模式,实现滚动、攀爬、行走、水面滑行等各种运动形式,进而克服各种非结构化地形,密封舱的可升降设计与其前端圆弧罩中设置的摄像头,可用于提供浮力、调整姿态和水下探测。


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    Title :

    Amphibious wheel leg type obstacle crossing robot


    Additional title:

    一种水陆两栖轮腿式越障机器人


    Contributors:
    WANG YINAN (author) / SONG YI (author) / WANG ZIYI (author) / ZHANG CHENHUI (author) / CUI ZIYUE (author) / CHEN KAIXUAN (author) / WU HUAPING (author)

    Publication date :

    2025-02-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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



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