The invention discloses a multi-motion-mode multi-body spherical robot. The multi-motion-mode multi-body spherical robot is formed by combining a parent spherical robot with a plurality of mechanical legs and a plurality of child spherical robots with air-ground amphibious motion modes. The parent spherical robot is combined with and separated from one child spherical robot through the capturing and docking mechanism at the tail end of each mechanical leg, and the multi-motion-mode multi-body structural spherical robot is formed. By means of deformation, combination and separation of the two types of spherical robots, the purpose that the reconstructed spherical robot has multiple motion modes is achieved, the ability of switching the motion modes according to different external environments is achieved when the spherical robot faces multiple terrains such as flat terrains, slopes and muddy terrains and wide-area environments such as wet lands, pipelines and air, and the spherical robot has the advantages of being high in practicability and wide in application range. Therefore, the requirements of work tasks such as rescue and relief work, reconnaissance and detection and autonomous cooperative work are met.
本发明公开了一种多运动模式多体重构球形机器人,它由一个拥有若干条机械腿的母体球形机器人和若干个具备陆空两栖运动模式的子体球形机器人组合而成。母体球形机器人通过每条机械腿末端的捕获对接机构与一个子体球形机器人进行组合、分离,形成多运动模式多体重构球形机器人。本发明通过对两类球形机器人的变形、组合和分离,达到重构的球形机器人具备多运动模式的目的,面对平坦、斜坡、泥泞等多种地形,以及湿地、管道、空中等广域环境,具备根据不同的外部环境切换运动模式的能力,以满足进行抢险救灾、侦察探测和自主协同作业等工作任务的需求。
Multi-motion-mode multi-body-weight spherical robot
一种多运动模式多体重构球形机器人
2025-05-27
Patent
Electronic Resource
Chinese