CN106272472B - A kind of structure changes spherical shape both arms search and rescue robot - Google Patents
A kind of structure changes spherical shape both arms search and rescue robot Download PDFInfo
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- CN106272472B CN106272472B CN201610843611.1A CN201610843611A CN106272472B CN 106272472 B CN106272472 B CN 106272472B CN 201610843611 A CN201610843611 A CN 201610843611A CN 106272472 B CN106272472 B CN 106272472B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/002—Manipulators for defensive or military tasks
- B25J11/0025—Manipulators for defensive or military tasks handling explosives, bombs or hazardous objects
Abstract
A kind of structure changes spherical shape both arms search and rescue robot is claimed in the present invention：Include mainly that structure changes double mechanical arms and structure changes spherical shell form；Outstanding feature is that double 6DOF mechanical arms are devised on robot pedestal, and the stretching, extension and withdrawal of mechanical arm are completed by deforming both arms mechanism；Robot can become two-wheel state by deforming spherical shell mechanism from sphere, can stretch out double mechanical arms by deforming both arms mechanism, be finally completed whole deformation process；Flexible movement may be implemented by roll drive mechanism in robot；Spherical Tai Xia robots electronic component is entirely encapsulated in spherical shell, has good self-protection ability, the erosion of dust and pernicious gas can be effectively prevent in rescue spot；In a deformed state, mechanical arm can externally be implemented to search and rescue operation, while cooperate with spherical shell rolling that can enhance obstacle climbing ability of the robot in rescue spot and the adaptability to different terrain.
Description
Technical field
The present invention relates to specialized robot technical field, the small ball-shape of specifically a kind of external operational capacity of deformation is searched and rescued
Robot.
Background technology
Currently, timely and effectively post-disaster search and rescue ability has increasingly obtained the great attention of countries in the world, it is more and more to cause
The concern of people.Urban explosion terrorist incident and natural calamity can cause any property loss and casualties.In order to make the damage after calamity
Mistake is minimized, and posterior search and rescue are very urgent.However the environment after calamity is sufficiently complex, on the one hand hides flue dust, poison
Gas, the unknown risk factor such as cave in and explode, on the one hand will carry out accurate positionin processing, timely to being hurted sb.'s feelings to Harm and control
Member transports valuable cargo, and it is very tired to execute search-and-rescue work in this uncertain and complex environment, in the effective time
Difficult, the life security for searching and rescuing team member cannot be guaranteed, and search-and-rescue work is not easy rapid deployment.Therefore, using search and rescue robot
Instead of people to post-disaster search and rescue target into line search and operation, the big hot spot for having become current robot technical research is asked
Topic.It can be seen that a kind of structure changes spherical shape search and rescue robot that can execute search task and operation task of invention, there is pole
Its important meaning.
As research is deeply with extensively, also become varied in the type of rear search and rescue robot.Most common search and rescue
It is several that robot is broadly divided into crawler type search and rescue robot, wheeled robot, legged mobile robot and ball shape robot.Wherein crawler belt
Robot application is the most extensive, has the characteristics that obstacle climbing ability is strong and small to ground pressure, but movement speed is slow, sport efficiency
It is not high.Wheeled search and rescue robot has, and sport efficiency is high, movement velocity soon and feature simple in structure, but obstacle climbing ability compared with
It is weak.Leg formula search and rescue robot has the characteristics that obstacle climbing ability is strong, but Design of Mechanical Structure and control are complicated, and reliability is relatively low and steady
Qualitative difference.Although spherical search and rescue robot movement is flexible, self-protective is good, and external operational capacity is poor.Therefore, synthesis is various
The advantage and disadvantage of the search and rescue robot of configuration, study that a kind of sport efficiency is high, with self-protection ability and external operational capacity
Structure changes spherical shape both arms search and rescue robot is of great significance.
Different from existing disclosed search and rescue robot technology, the spherical both arms of this structure changes of invention are searched and rescued
Robot has good self-protection ability under spherical state, while having deformability, can be converted from spherical state in pairs
Form is taken turns, double mechanical arms can drive ball that can roll when shrinking, upon deployment can be to external object run；This patent is special
The structure changes mechanical arm of two 6DOFs is devised, mechanical arm is arranged symmetrically convenient for stability contorting, and structure design is simple, flexibly
Reliably.
Invention content
Present invention seek to address that the above problem of the prior art.Propose that a kind of flexibility and reliability, self-protective is good, movement is clever
It is living, landform adaptability and search and rescue the strong structure changes spherical shape both arms search and rescue robot of object run ability after calamity.The skill of the present invention
Art scheme is as follows：
A kind of structure changes spherical shape both arms search and rescue robot, including left hemisphere shell and right hemispherical Shell, the left hemisphere shell and the right side
Hemispherical Shell is separable to be docking together, and further includes structure changes spherical shell mechanism and structure changes mechanical arm mechanism；It is described spherical double
Arm search and rescue robot forms two kinds of variable forms by structure changes spherical shell mechanism and the cooperation of structure changes mechanical arm mechanism, i.e.,
Two-wheel form and spherical state, drive robot to move forwards or backwards, pass through joint motor under spherical state by left and right motor
The mechanical arm swing of driving realizes that robot laterally rolls；Deformation motor drives left deformation rack and right deformation rack that machine may be implemented
Device people is transformed into two-wheel form from spherical state；Under two-wheel form, left spherical shell motor and right spherical shell motor differential speed rotation can drive
Robot turn, structure changes mechanical arm mechanism for realizing mechanical arm expansion and contraction.
Further, structure changes spherical shell mechanism includes deformation motor, left deformation rack and right deformation rack, left deformation
Rotation axis of the left end of rack as left hemisphere shell, the rotation axis of the right end of right deformation rack as right hemispherical Shell, right hemispherical Shell
Motor, which is fixed on right deformation rack, drives right hemispherical Shell to rotate, and left hemisphere shell motor, which is fixed on left deformation rack, drives left half
Spherical shell rotates；Left deformation rack and right deformation rack are installed in horizontal support, and left deformation rack and right deformation rack are becoming
It is synchronous in opposite direction under the driving of shape motor to stretch out and withdraw, it realizes mutual between the spherical state of robot and two-wheel form
Transformation.
Further, the structure changes mechanical arm mechanism includes symmetrically arranged preceding arm mechanism and rear arm mechanism, wherein often
A preceding arm mechanism includes 5 cradle heads and 1 arthrodia composition, respectively first the-the four cradle head of cradle head, the
Five arthrodias and the 6th cradle head, before wherein the joint motor of mechanical arm can drive Mechanical Contraction, joint motor to include
The 6th joint motor of the first joint motor of arm-forearm, in robot spherical shape state, mechanical arm is under mechanical arm joint motor effect
Robot can be driven laterally to roll；The arthrodia of forearm mechanical arm includes the 5th joint motor, forearm driving gear, forearm
Driven gear and the 5th arthrodia rack, forearm driving gear are parallelly mounted to the rotation of forearm the 4th with forearm driven gear and close
On section, play the role of limiting the 5th arthrodial rack and the relative rotation of the 4th cradle head of forearm, the 5th joint of forearm
Motor can directly drive driving gear rotation, and the 5th arthrodia rack stretches out under driving gear effect out of travelling arm,
Driven gear follows rotation simultaneously.
Further, the horizontal support is fixedly connected with preceding arm support, and the first cradle head of forearm is cut with scissors with preceding arm support
It connects, is driven by forearm first motor and realize rotation, the second cradle head of forearm and the first cradle head of forearm are hinged, by forearm the
Rotation is realized in the driving of two motors, and forearm third cradle head is hinged with the second cradle head of forearm, is driven by forearm third motor
Realize rotation, the 4th cradle head of forearm is hinged with forearm third cradle head, is driven by the 4th motor of forearm and realizes rotation, preceding
The 5th arthrodia of arm opposite can be slided with the 4th cradle head of forearm, is driven by the 5th motor of forearm and is realized that rack stretches, preceding
The 6th cradle head of arm is hinged with the 5th arthrodia of forearm, is driven by the 6th motor of forearm and realizes rotation.
Further, further include the forearm paw for being set to the 6th cradle head front end of forearm, the forearm paw is by hand
The driving opening and closing of pawl motor.
Further, under deformation motor driving, right deformation rack and left deformation rack slide in horizontal support simultaneously；
When right deformation rack and the sliding of left deformation rack are stretched out, right hemispherical Shell and left hemisphere shell separate, and robot becomes two-wheel form；
After robot becomes two-wheel form, robot can carry out mechanical arm expansion, when forearm is unfolded, in 6 joint motors of forearm
Driving under, the first cradle head of mechanical arm and the 4th cradle head rotate 90 degree, the second cradle head rotation 180 degree, the 5th
Arthrodia rack fully slides out, you can completes the mechanical arm expansion of robot.
Further, the right hemisphere shell motor of the robot can drive right hemispherical Shell to rotate, and left hemisphere shell motor can drive
Dynamic left hemisphere shell 1 rotates, and when right hemisphere shell motor and left hemisphere shell motor rotate at the same speed, robot can be in spherical state, two-wheel
It realizes under form and more wheel forms and forwardly and rearwardly moves along a straight line；When right hemisphere shell motor and left hemisphere shell motor differential rotate
When, robot can be realized to the left under two-wheel form and be bent to right movement；The second motor of forearm driving forearm pendulum of robot
Dynamic, arm swing after the second motor of postbrachium driving simultaneously of robot, robot can realize laterally rolling under spherical state.
It advantages of the present invention and has the beneficial effect that：
The invention has the advantages that according to site environment after mission requirements and calamity, robot can carry out spherical state and two-wheel form
Between mutual transformation；Robot can flexible motion under each form；The spherical shell amoeboid movement of robot only needs individually
Motor can synchronize two racks of driving；Robot does not need individual gravity centre adjustment mechanism in spherical state, merely with receipts
The mechanical arm swing of contracting achieves that robot laterally rolls, and has saved material and space；Spherical shell deformation process and mechanical arm are stretched
Exhibition process can guarantee that symmetrical balance, mechanism are independent of each other.In short, designed spherical both arms search and rescue robot, has self-shield
Property it is good, movement is flexible, landform adaptability and searches and rescues the strong advantage of object run ability after calamity.
Flexible movement may be implemented by roll drive mechanism in robot；Spherical Tai Xia robots electronic component all encapsulates
In spherical shell, there is good self-protection ability, the erosion of dust and pernicious gas can be effectively prevent in rescue spot；
Under deformation state, mechanical arm can externally be implemented to search and rescue operation, while cooperateing with spherical shell rolling that can enhance robot and searching and rescuing now
The obstacle climbing ability of field and the adaptability to different terrain；Scene is searched after this kind of robot can enter calamity with carrying detection sensor
Target is sought, search and rescue task is executed with double mechanical arms under hazardous environment.
Description of the drawings
Fig. 1 is that the present invention provides preferred embodiment robot appearance diagram；
Fig. 2 is the robotic asssembly schematic diagram of the present invention；
Fig. 3 is the robot interior structure top view of the present invention；
Fig. 4 is the robot interior structural side view of the present invention；
Fig. 5 is the robot interior structure front view of the present invention；
Fig. 6 is the robot deformation rack structural schematic diagram of the present invention；
Fig. 7 is that the robot of the present invention deforms single armed expanded schematic diagram；
Figure label：1：Left hemisphere shell, 2：Left hemisphere shell motor, 3：Postbrachium motor 3,4：The second cradle head of postbrachium, 5：
Postbrachium third cradle head, 6：Postbrachium paw, 7：The 5th motor of postbrachium, 8：The 4th motor of postbrachium, 9：The 4th cradle head of postbrachium,
10：The 5th arthrodia of postbrachium, 11：The first cradle head of postbrachium, 12：Postbrachium first motor, 13：Horizontal support, 14：Right deformation
Rack, 15：Right hemisphere shell motor, 16：Forearm gripper motor, 17：Forearm paw, 18：The 6th motor of forearm, 19：Forearm the 5th
Motor, 20：The 4th motor of forearm, 21：The 4th cradle head of forearm, 22：Forearm third cradle head, 23：Forearm second rotates
Joint, 24 forearm third motors, 25：The second motor of forearm, 26：The first cradle head of forearm, 27：Preceding arm support, 28：Deformation electricity
Machine, 29：Left deformation rack, 30：Forearm first motor, 31：Arm support afterwards, 32：The second motor of postbrachium, 33：The 6th motor of postbrachium,
34：Postbrachium driven gear, 35：Postbrachium driving gear, 36：Forearm driving gear, 37：Forearm driven gear, 38：Forearm the 5th is slided
Movable joint, 39：Postbrachium gripper motor, 40：The 6th cradle head of postbrachium, 41：Right hemispherical Shell, 42：The 6th cradle head of forearm.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, detailed
Carefully describe.Described embodiment is only a part of the embodiment of the present invention.
Technical scheme is as follows：
Fig. 1 is the robot appearance diagram of invention：Right spherical shell 1 and left hemisphere shell 12 as we can see from the figure, are docked at
Together, can be very good protection robot interior element, from environment after calamity dust and pernicious gas corrosion.
Fig. 2 is the robotic asssembly schematic diagram of the present invention, and Fig. 3 is the robot interior structure top view of the present invention, and Fig. 4 is
The robot interior structure upward view of the present invention, Fig. 5 are the robot interior structural side view of the present invention, and Fig. 6 is of the invention
Robot deformation rack structural schematic diagram, Fig. 7 are that the robot of the present invention deforms single armed expanded schematic diagram：
A kind of structure changes spherical shape both arms search and rescue robot, including left hemisphere shell 1 and right hemispherical Shell 41, the left hemisphere shell 1
With right hemispherical Shell 41 is separable is docking together, further include structure changes spherical shell mechanism and structure changes mechanical arm mechanism；It is described
Spherical both arms search and rescue robot forms two kinds by structure changes spherical shell mechanism and the cooperation of structure changes mechanical arm mechanism and can be changed
Form, i.e. two-wheel form and spherical state, drive robot to move forwards or backwards, pass through pass under spherical state by left and right motor
It saves motor drive machinery arm swing and realizes that robot laterally rolls；Deforming motor drives left deformation rack and right deformation rack can be with
Realize that robot is transformed into two-wheel form from spherical state；Under two-wheel form, left spherical shell motor and right spherical shell motor differential speed rotation
Robot can be driven to turn, structure changes mechanical arm mechanism for realizing mechanical arm expansion and contraction.
Preferably, structure changes spherical shell mechanism includes deformation motor 28, left deformation rack 29 and right deformation rack 14, a left side
Rotation axis of the left end of deformation rack 29 as left hemisphere shell 1, the rotation of the right end of right deformation rack 14 as right hemispherical Shell 41
Axis, right hemisphere shell motor 16, which is fixed on right deformation rack 14, drives right hemispherical Shell 41 to rotate, and left hemisphere shell motor 2 is fixed on a left side
Left hemisphere shell 1 is driven to rotate on deformation rack 29；Left deformation rack 29 and right deformation rack 14 are installed in horizontal support 13,
Left deformation rack 29 stretching synchronous in opposite direction and withdrawal under the driving of deformation motor 28 with right deformation rack 14, realize machine
Mutual phase inversion between the spherical state and two-wheel form of device people.
Preferably, the structure changes mechanical arm mechanism includes symmetrically arranged preceding arm mechanism and rear arm mechanism, wherein each
Preceding arm mechanism includes 5 cradle heads and 1 arthrodia composition, respectively first the-the four cradle head of cradle head, the 5th
It includes forearm that arthrodia and the 6th cradle head, the wherein joint motor of mechanical arm, which can drive Mechanical Contraction, joint motor,
The 6th joint motor of first joint motor-forearm, in robot spherical shape state, mechanical arm can under mechanical arm joint motor effect
To drive robot laterally to roll；The arthrodia of forearm mechanical arm includes the 5th joint motor, forearm driving gear, forearm quilt
Moving gear and the 5th arthrodia rack, forearm driving gear are parallelly mounted to the 4th cradle head of forearm with forearm driven gear
On, play the role of limiting the 5th arthrodial rack and the relative rotation of the 4th cradle head of forearm, the 5th joint of forearm electricity
Machine can directly drive driving gear rotation, and the 5th arthrodia rack stretches out under driving gear effect out of travelling arm, together
When driven gear follow rotation.
Right hemisphere shell motor 15 can drive right hemispherical Shell 41 to rotate in figure, and left hemisphere shell motor 2 can drive 1 turn of left hemisphere shell
It is dynamic；Right hemisphere shell motor 15 is fixed with right deformation rack 14, and left hemisphere shell motor 2 is fixed with left deformation rack 29, right deformation tooth
Item 14 and left deformation rack 29 are mounted in horizontal support 13；Deformation motor 28 is fixed on above horizontal support 13, can drive the right side
Deformation rack 29 and the sliding in horizontal support 13 simultaneously of left deformation rack 14.
Because the double mechanical arms of robot are symmetrical structure designs, only front mechanical arm structure is illustrated here：Laterally
Holder 13 is fixed with preceding arm support 27, and the first cradle head of forearm 26 is hinged with preceding arm support 27, is driven by forearm first motor 30
Dynamic to realize rotation, the second cradle head of forearm 23 is hinged with the first cradle head of forearm 30, and reality is driven by the second motor of forearm 25
It now rotates, forearm third cradle head 22 is hinged with the second cradle head of forearm 23, is realized and is turned by the driving of forearm third motor 24
Dynamic, the 4th cradle head 21 of forearm and forearm third cradle head 32 are hinged, are driven by the 4th motor 20 of forearm and realize rotation, preceding
The 5th arthrodia 38 of arm opposite can be slided with the 4th cradle head 21 of forearm, is driven by the 5th motor 19 of forearm and is realized that rack is stretched
Contracting, the 6th cradle head 42 of forearm and the 5th arthrodia 38 of forearm are hinged, are driven by the 6th motor 18 of forearm and realize rotation, preceding
Arm paw 17 is fixed on 42 front end of the 6th cradle head of forearm, is driven and is opened and closed by gripper motor 16.It is mechanical after robot
Arm configuration and forearm structure symmetric design, structure is identical, is no longer described in detail.
Robot amoeboid movement process：In the case where deformation motor 28 drives, right deformation rack 14 and left deformation rack 29 are simultaneously
The sliding in horizontal support 13；When sliding stretching, right hemispherical Shell 41 and left hemisphere shell 1 separate, and robot becomes two-wheel form；
After robot becomes two-wheel form, robot can carry out mechanical arm expansion, such as forearm expansion, in 6 joint electricity of forearm
Under the driving of machine, mechanical arm the first cradle head 26 and the 4th cradle head 21 rotate 90 degree, second turn of rotation of joint 23 180
Degree, 38 rack of the 5th arthrodia fully slide out, you can complete the mechanical arm expansion of robot.When robot is unfolded from mechanical arm
State becomes spherical state, is the inverse process of the above process, first carries out mechanical arm contraction distortion, then carries out the two-wheel form change of spherical shell
To the deformation of spherical state.
The ground moving process of robot：The right hemisphere shell motor 15 of robot can drive right hemispherical Shell 41 to rotate, and left half
Spherical shell motor 2 can drive left hemisphere shell 1 to rotate, when right hemisphere shell motor 15 and the rotation at the same speed of left hemisphere shell motor 2, robot
It can realize under spherical state, two-wheel form and more wheel forms and forwardly and rearwardly move along a straight line；When right hemisphere shell motor 15 and left half
When 2 differential of spherical shell motor rotates, robot can be realized to the left under two-wheel form and be bent to right movement；The forearm of robot
Two motors 25 drive preceding arm swing, and arm swing after the driving simultaneously of the second motor of postbrachium 32 of robot, robot can be in spherical shape
It realizes under state and laterally rolls.
In summary：A kind of structure changes spherical shape both arms search and rescue robot invented, outstanding feature is to pass through structure changes
The mutual transformation between spherical state and two-wheel form may be implemented in spherical shell, and can flexible motion under each form；Double
The expansion by structure changes mechanical arm under form is taken turns, can execute to external grasping body task, realize external operating function；
Mechanical arm is contracted in inside spherical shell under spherical state, and robot can be driven laterally to roll, and robot electronic component is entirely encapsulated in
In spherical shell, there is good self-protection ability, the erosion of dust and pernicious gas can be effectively prevent in rescue spot.It is sent out
The structure changes spherical shell structure and structure changes machinery arm configuration that bright ball shape robot has, enhance landform adaptability, obstacle detouring
Ability and external operational capacity can be used as mobile platform, carry various investigations and detection sensor enters scene after calamity.Always
It, designed structure changes spherical shape both arms search and rescue robot, in self-protection ability, the side such as kinematic dexterity and environmental suitability
Face all has great advantage, and the auxiliary mankind is suitble to execute dangerous search and rescue task.
The above embodiment is interpreted as being merely to illustrate the present invention rather than limit the scope of the invention.
After the content for having read the record of the present invention, technical staff can make various changes or modifications the present invention, these equivalent changes
Change and modification equally falls into the scope of the claims in the present invention.
Claims (7)
1. a kind of structure changes spherical shape both arms search and rescue robot, including left hemisphere shell (1) and right hemispherical Shell (41), the left hemisphere shell
(1) it separates or is docking together with right hemispherical Shell (41), which is characterized in that further include structure changes spherical shell mechanism and structure changes machine
Tool arm mechanism；The cooperation that the spherical shape both arms search and rescue robot passes through structure changes spherical shell mechanism and structure changes mechanical arm mechanism
Form two kinds of variable forms, i.e. two-wheel form and spherical state, under spherical state by left and right motor drive robot forward or to
After move, pass through the mechanical arm swing of joint motor driving and realize that robot laterally rolls；Deform motor drive left deformation rack and
Right deformation rack may be implemented robot and be transformed into two-wheel form from spherical state；Under two-wheel form, left spherical shell motor and right ball
Shell motor differential speed rotation can drive robot to turn, structure changes mechanical arm mechanism for realizing mechanical arm expansion and contraction.
2. structure changes spherical shape both arms search and rescue robot according to claim 1, which is characterized in that the structure changes spherical shell machine
Structure includes deformation motor (28), left deformation rack (29) and right deformation rack (14), and the left end of left deformation rack (29) is as left
The rotation axis of hemispherical Shell (1), the rotation axis of the right end of right deformation rack (14) as right hemispherical Shell (41), right hemisphere shell motor
(16) it is fixed on right deformation rack (14) and right hemispherical Shell (41) is driven to rotate, left hemisphere shell motor (2) is fixed on left deformation tooth
Left hemisphere shell (1) is driven to rotate on item (29)；Left deformation rack (29) and right deformation rack (14) are installed in horizontal support
(13) in, the stretching synchronous in opposite direction under the driving of deformation motor (28) with right deformation rack (14) of left deformation rack (29)
And withdrawal, realize the mutual phase inversion between the spherical state of robot and two-wheel form.
3. structure changes spherical shape both arms search and rescue robot according to claim 2, which is characterized in that the structure changes mechanical arm
Mechanism includes the preceding arm mechanism being arranged symmetrically and rear arm mechanism, wherein arm mechanism includes 5 cradle heads and 1 sliding before each
Joint forms, respectively first the-the four cradle head of cradle head, the 5th arthrodia and the 6th cradle head, wherein machinery
It includes the 6th joint motor of the first joint motor of forearm-forearm that the joint motor of arm, which can drive Mechanical Contraction, joint motor,
When robot spherical shape state, mechanical arm can drive robot laterally to roll under mechanical arm joint motor effect；Forearm mechanical arm
Arthrodia include the 5th joint motor, forearm driving gear, forearm driven gear and the 5th arthrodia rack, forearm master
Moving gear and forearm driven gear are parallelly mounted on the 4th cradle head of forearm, play the 5th arthrodial rack of limitation with
The effect that the 4th cradle head of forearm relatively rotates, the 5th joint motor of forearm can directly drive driving gear and rotate, and the 5th
Arthrodia rack stretches out under driving gear effect out of travelling arm, while driven gear follows rotation.
4. structure changes spherical shape both arms search and rescue robot according to claim 3, which is characterized in that the horizontal support (13)
It is fixedly connected with preceding arm support (27), the first cradle head of forearm (26) is hinged with preceding arm support (27), by forearm first motor
Rotation is realized in driving, and the second cradle head of forearm is hinged with the first cradle head of forearm, is realized and is turned by the driving of the second motor of forearm
Dynamic, forearm third cradle head is hinged with the second cradle head of forearm, is driven by forearm third motor and realizes rotation, forearm the 4th
Cradle head and forearm third cradle head are hinged, are driven by the 4th motor of forearm and realize rotation, the 5th arthrodia of forearm with
The 4th cradle head of forearm can opposite sliding, driven by the 5th motor of forearm and realize that rack stretches, the 6th cradle head of forearm with
The 5th arthrodia of forearm is hinged, is driven by the 6th motor of forearm and realizes rotation.
5. structure changes spherical shape both arms search and rescue robot according to claim 4, which is characterized in that further include being set to forearm
The forearm paw of 6th cradle head front end, the forearm paw are driven by gripper motor and are opened and closed.
6. structure changes spherical shape both arms search and rescue robot according to claim 4, which is characterized in that when deformation motor driving
Under, right deformation rack and left deformation rack slide in horizontal support simultaneously；When right deformation rack and the sliding of left deformation rack are stretched
When going out, right hemispherical Shell and left hemisphere shell separate, and robot becomes two-wheel form；After robot becomes two-wheel form, robot
Can carry out mechanical arm expansion, when forearm is unfolded, under the driving of 6 joint motors of forearm, the first cradle head of mechanical arm and
4th cradle head rotates 90 degree, and the second cradle head rotates 180 degree, and the 5th arthrodia rack fully slides out, you can completes
The mechanical arm of robot is unfolded.
7. structure changes spherical shape both arms search and rescue robot according to claim 4, which is characterized in that right the half of the robot
Spherical shell motor can drive right hemispherical Shell to rotate, and left hemisphere shell motor can drive left hemisphere shell (1) to rotate, when right hemisphere shell motor and
When left hemisphere shell motor rotates at the same speed, robot can be realized under spherical state and two-wheel form and forwardly and rearwardly be moved along a straight line；When
When right hemisphere shell motor and left hemisphere shell motor differential rotate, robot can be realized to the left under two-wheel form and be bent to right fortune
It is dynamic；Arm swing before the second motor of forearm driving of robot, arm swing after the second motor of postbrachium driving simultaneously of robot, machine
People can realize laterally rolling under spherical state.
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| CN201610843611.1A CN106272472B (en) | 2016-09-22 | 2016-09-22 | A kind of structure changes spherical shape both arms search and rescue robot |
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| CN104015827A (en) * | 2014-06-10 | 2014-09-03 | 上海大学 | Variable structure spherical robot capable of crossing obstacle |
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| US6502657B2 (en) * | 2000-09-22 | 2003-01-07 | The Charles Stark Draper Laboratory, Inc. | Transformable vehicle |
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| CN103387016A (en) * | 2013-08-01 | 2013-11-13 | 哈尔滨工程大学 | Hemisphere differential telescopic spherical robot |
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| CN104015827A (en) * | 2014-06-10 | 2014-09-03 | 上海大学 | Variable structure spherical robot capable of crossing obstacle |
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