The invention belongs to the technical field of robots, and particularly relates to a deformable spherical robot and a moving method thereof. Comprising a main machine frame and variable wheel set devices arranged on the two sides of the main machine frame, each variable wheel set device has a two-wheel closed form and a four-wheel unfolded form, each variable wheel set device structurally comprises an inner wheel and an outer wheel which are eccentrically designed with the main machine frame, and the inner wheels and the outer wheels are fixed to the main machine frame through corresponding suspension devices; in the closed state, the circle centers of the inner wheel, the outer wheel and the main rack are located on the same axis. In the unfolded state, the inner wheel, the outer wheel and the circle center of the main rack form a triangular structure. The deformable spherical robot aims to keep stable and efficient movement on various terrains such as flat road surfaces, pits and protrusions through the flexible form conversion and wheel swinging strategy of the deformable spherical robot, and the adaptive capacity under different terrain conditions is remarkably enhanced.

    本发明属于机器人技术领域,具体涉及一种可变形球形机器人及其移动方法。包括主机架和设置在主机架两侧的可变轮组装置,所述可变轮组装置具备两轮的闭合形态以及四轮的展开形态,可变轮组装置结构包括分别与主机架偏心设计的内轮以及外轮,内轮以及外轮分别通过对应的悬挂装置固定在主机架上;在闭合形态下,内轮、外轮以及主机架的圆心在同一轴线上;在展开形态下,内轮、外轮以及主机架的圆心构成三角结构。其目的在于,通过本发明的可变形球形机器人灵活的形态转换与车轮摆动策略,机器人能够在平坦路面、凹坑、凸起等多种地形上保持平稳、高效的移动,显著增强了在不同地形条件下的适应能力。


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    Title :

    Deformable spherical robot and moving method thereof


    Additional title:

    一种可变形球形机器人及其移动方法


    Contributors:
    CAI NAN (author)

    Publication date :

    2025-03-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / B62D MOTOR VEHICLES , Motorfahrzeuge



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