CN112548984B - Rolling obstacle crossing robot with telescopic arm - Google Patents

Rolling obstacle crossing robot with telescopic arm Download PDF

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Publication number
CN112548984B
CN112548984B CN202011433999.0A CN202011433999A CN112548984B CN 112548984 B CN112548984 B CN 112548984B CN 202011433999 A CN202011433999 A CN 202011433999A CN 112548984 B CN112548984 B CN 112548984B
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main shaft
telescopic arm
shell
rolling
telescopic
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CN112548984A (en
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李光
王酉
吴若竹
陈振峰
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Luoteng Hangzhou Technology Co ltd
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Luoteng Hangzhou Technology Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid

Abstract

The invention relates to a rolling obstacle crossing robot with a telescopic arm, which solves the problem that the rolling robot has insufficient capacity of crossing a step-type obstacle. The device comprises a housing capable of rolling, wherein a main shaft horizontally arranged is erected between the left side wall and the right side wall of the housing, the main shaft can rotate relative to the housing, an auxiliary shaft horizontally arranged and perpendicular to the main shaft is arranged in the center of the main shaft, the auxiliary shaft can rotate and can rotate along with the main shaft, an inner swinging block is hung below the auxiliary shaft, two ends of the main shaft extend out of the housing and are respectively connected with a telescopic arm, and the telescopic arm is arranged in a telescopic manner along the radial direction of the main shaft. When the rolling robot climbs over the steps, the telescopic arms arranged outside the shell and at the two ends of the main shaft can be lifted downwards, so that the shell is continuously lifted to climb over the steps.

Description

Rolling obstacle crossing robot with telescopic arm
Technical Field
The invention belongs to the field of intelligent robots, and relates to a rolling obstacle crossing robot with a telescopic arm.
Background
The robot is an intelligent device which simulates human beings to complete various instructions through manual or automatic control. The robot can replace a human body to carry out various complex and fine operations, and can also replace the human body to enter a complex and dangerous environment to carry out exploration operation, thereby ensuring the safety of personnel. The existing robot is a fixed robot which is fixedly arranged and operates in a certain area range, and the existing robot is also movable, and the robot can walk and move through mechanical legs, tracks, rollers and other structures. The mobile robot can replace human beings to enter complex and dangerous scenes, such as spaces and fire fields which poison gas, and the like, and collects signals to guide rescue.
The rolling robot is a mobile robot, and the housing of the rolling robot can be any shape suitable for rolling, such as a sphere, an ellipsoid, a drum, a polyhedron with a large number of faces, and the like, and the rolling robot runs by means of rolling of the housing itself. For example, the applicant filed a chinese patent No. 2018112678220 in 2018, 10, 29 and named as a panoramic information collecting and rolling robot. The device erects the main shaft that the level set up between the lateral wall about the casing, the casing is the solid of revolution that uses the main shaft as the axis, the main shaft center is equipped with the countershaft of level setting and mutually perpendicular with the main shaft, and the countershaft both ends are unsettled, and hangs below the countershaft both ends and be equipped with the swing piece. The robot respectively realizes the advancing and the turning of the robot by swinging around the main shaft and the auxiliary shaft through the swinging block arranged in the shell. In the moving process of the rolling robot, the gravity center of the rolling robot is offset by the deflection of the swinging block to provide a forward or turning trend, and the shell and the contact surface generate friction force to support the movement of the rolling robot, the obstacle crossing capability of the rolling robot is mainly determined by the maximum swinging amplitude of the swinging block, generally, the rolling robot can cross a continuous slope surface of about 15 degrees and a 90-degree step obstacle with the height not exceeding the radius height of the shell 1/4-1/3, however, when the step obstacle with large height difference is faced, the driving force generated by the swinging block is not enough to overcome the tendency that the self gravity of the rolling robot generates the step crossing, the rolling friction force of the contact point of the shell and the step is small, the phenomena of sliding, idling and the like can not cross the step.
Disclosure of Invention
The invention aims to provide a rolling obstacle crossing robot with telescopic arms aiming at the problem that the existing rolling robot is insufficient in capability of crossing step-type obstacles.
The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides a rolling obstacle crossing robot of flexible arm in area, includes the casing that can roll, its characterized in that: a horizontally arranged main shaft is erected between the left side wall and the right side wall of the shell and can rotate relative to the shell, an auxiliary shaft which is horizontally arranged and is perpendicular to the main shaft is arranged in the center of the main shaft, the auxiliary shaft can rotate and can rotate along with the main shaft, an inner swing block is hung below the auxiliary shaft, two ends of the main shaft extend out of the shell and are respectively connected with telescopic arms, and the telescopic arms can be arranged in a telescopic mode along the radial direction of the main shaft.
The rolling obstacle-surmounting robot of the device adopts the rotation of the main shaft to drive the inner swinging block to swing forwards or backwards by a set angle, so that the whole mass center moves forwards or backwards to drive the shell to roll forwards or backwards; the auxiliary shaft is adopted to rotate to drive the inner swinging block to swing left and right, so that the whole mass center moves leftwards or rightwards, the shell tilts leftwards or rightwards while rolling forwards or backwards, and turning is realized. Traditional rolling robot who does not take telescopic boom can realize gentle ground free rolling and turn, also can overcome the low-angle obstacle and realize climbing, but when touchhing higher step obstacle, the forward drive power is not enough to overcome gravity and cross the step. The surface or the inner side of a shell of the rolling robot can be loaded with image or video acquisition elements such as a camera and the like, an attitude sensor is arranged in the rolling robot, the rolling robot touches a step on the advancing route, and the step obstacle crossing operation is carried out through video and image signal feedback or when the attitude sensor finds that the spherical shell is clamped by the step and does not advance. The telescopic arms are arranged at the two ends of the main shaft, the telescopic arms have telescopic amount along the radial direction of the main shaft, the telescopic arms can stretch in the direction perpendicular to the main shaft, the telescopic amount of the telescopic arms is used for jacking the shell upwards, and the shell is assisted to cross step obstacles. When the robot rolls on a normal flat ground or a gentle slope, the telescopic arm is in a contraction state, and the rolling of the rolling robot is not influenced; when the device crosses a step, the spindle rotates to drive the inner swing block to swing towards one side of the step to enable the shell to be attached to the step and always remain attached to the step, the telescopic arm is rotated to enable the extension end to face downwards, the extension end of the telescopic arm extends to continuously lift the shell, the relative height difference between the bottom surface of the shell and the step is continuously reduced, when the driving force of the inner swing block is enough to overcome the relative height difference between the bottom surface of the shell and the step, the shell crosses the step to continue rolling, the telescopic arm retracts at the moment, and the rolling robot recovers to normally roll.
Preferably, the telescopic arm is rotatably connected with the end part of the main shaft, and the rotary driving piece at the end parts of the telescopic arm and the main shaft is a steering engine, a tripod head motor, a direct current motor or a servo motor. The telescopic arm can rotate relative to the end part of the main shaft, when the rolling robot rolls normally, the telescopic arm can be rotated to the horizontal state or the state close to the horizontal state, collision with ground obstacles is avoided, and at the moment, the auxiliary shaft can be used as a correction reference to rotate the telescopic arm to be parallel to the auxiliary shaft. When the user needs to climb over a step obstacle, the telescopic arm is rotated to a vertical angle or an angle close to the vertical angle.
Preferably, the telescopic arm is sleeved with the end of the main shaft through a bearing, and the rotary driving piece is erected on the main shaft to drive the telescopic arm to rotate. The rotary driving piece does not need to bear the gravity of the telescopic arm in a static state and the gravity of the whole rolling robot in a step crossing state.
Preferably, an angle control sensor is provided between the telescopic arm and the end of the main shaft. The angle control sensor can control the angle of the telescopic arm.
Preferably, one or more telescopic arms are respectively arranged at two ends of the main shaft, the gravity center of the telescopic arm at one end of the main shaft in a contracted state is positioned on the axis of the main shaft, and the centers of all the telescopic arms at two ends of the main shaft in a contracted state are positioned on the vertical plane in the shell. The telescopic arms are arranged at two ends of the main shaft respectively, the optimal selection is symmetrical, and the center of the telescopic arms in a contraction state is located on the axis of the main shaft through gravity center mounting position selection or balance weight adjustment, so that negative effects on normal rolling of the rolling robot are avoided.
Preferably, the telescopic arm is an electric push rod, a pneumatic rod or a hydraulic rod.
Preferably, in a contracted state of the telescopic arm, two ends of the telescopic arm do not exceed the peripheral surface of the rolling ring of the shell; and in the extension state of the telescopic arm, the extension end of the telescopic arm extends out of the peripheral surface of the rolling ring of the shell. The peripheral surface of the rolling ring is the surface of the shell body where the maximum turning radius around the main shaft is located, and the problem that the end part of the telescopic arm stretches out to influence normal rolling is avoided.
Preferably, the extending end of the telescopic arm is provided with a friction block for improving the friction coefficient.
Preferably, the main shaft is provided with a main shaft driving device, and a secondary shaft driving device is arranged at the intersection of the main shaft and the secondary shaft.
Preferably, the housing is of a bilateral symmetry structure, and the middle of the circumference of the housing surrounding the main shaft is a circular main raceway moving in the front-back direction. The main raceway can be made of high-strength wear-resistant material.
Preferably, the shell is spherical, ellipsoidal, horizontally arranged cylindrical or drum-shaped. The shell can also be a polyhedron structure which is fitted into a spherical shape, an ellipsoid shape, a cylindrical shape and a drum shape, the rolling effect can be achieved as long as the number of faces is enough, such as a 30-face body, and the change is regarded as equivalent replacement of the spherical shape, the ellipsoid shape, the cylindrical shape and the drum shape.
When the rolling robot climbs over the steps, the telescopic arms arranged outside the shell and at the two ends of the main shaft can be lifted downwards, so that the shell is continuously lifted to climb over the steps.
Drawings
Fig. 1 is a schematic diagram of the principle of the inner swing block of the present invention driving the housing to roll.
Fig. 2 is a schematic view of the internal structure of the drum-type casing of the present invention.
Fig. 3 is a schematic structural view of the telescopic arm arranged outside the shell of the invention.
Fig. 4 is a schematic view showing a state of the telescopic arm when the rolling robot of the present invention rolls normally.
Fig. 5 is a schematic view of a theoretical model of the rolling robot of the present invention for crossing steps.
Fig. 6 is a schematic side view of the rolling robot according to the present invention before it steps over a step.
Fig. 7 is a schematic side view of the rolling robot according to the present invention after crossing a step.
Fig. 8 is a schematic view of the structure of the rotary driving member of the telescopic arm of the present invention.
In the figure: 1. the device comprises a shell, 2, a main shaft, 3, an auxiliary shaft, 4, an inner swing block, 5, a main shaft driving device, 6, an auxiliary shaft driving device, 7, a main shaft driving motor, 8, a main shaft driving gear set, 9, a telescopic arm, 10, a push rod motor, 11, a steering engine, 12, an extending end, 13, a telescopic arm connecting seat, 14 and a telescopic arm connecting bearing.
Detailed Description
The invention is further illustrated by the following specific examples in conjunction with the accompanying drawings.
Example (b): a rolling obstacle-surmounting robot with a telescopic arm, as shown in figures 2-4. The device comprises a rollable shell 1, wherein the shell is of a revolving body structure surrounding a horizontal main shaft, and can be spherical, ellipsoidal, cylindrical, drum-shaped and the like. In this embodiment, the shell structure is a drum shape with two flat sides and a spherical bulge in the middle as shown in fig. 2. The shell is of a bilateral symmetry structure, and the spherical protrusions in the middle of the circumference of the shell surrounding the main shaft are main roller paths which are in contact with the ground when the rolling robot rolls.
In the scheme, the rolling principle of the rolling robot is shown in figure 1, a horizontally arranged main shaft 2 is erected between the left side wall and the right side wall of a shell 1, the main shaft can rotate relative to the shell, and two ends of the main shaft are rotatably connected with the shell through bearings. An auxiliary shaft 3 which is horizontally arranged and vertical to the main shaft is arranged in the center of the main shaft 2, the auxiliary shaft can rotate and rotate along with the main shaft, two ends of the auxiliary shaft are suspended in the air, and an inner swinging block 4 is fixedly hung below two ends of the auxiliary shaft. When the rolling robot needs to advance or retreat, the main shaft rotates, the auxiliary shaft is arranged in the middle of the main shaft, and two ends of the auxiliary shaft are suspended, so that the auxiliary shaft is driven by the main shaft to rotate for an angle around the main shaft, the inner swinging block is driven to swing forwards or backwards, the integral mass center is driven to move forwards or backwards, and the rolling robot is driven to advance or retreat. When the rolling robot needs to turn, the main shaft continuously rotates to keep the rolling robot to stably advance or retreat, and meanwhile, the auxiliary shaft rotates around the axis of the auxiliary shaft to drive the inner swinging block to swing towards the left side or the right side, so that the integral mass center is deviated towards one side, and the rolling robot is inclined towards one side, and the turning is realized.
The internal structure of the rolling robot housing 1 of the present invention is shown in fig. 2. The main shaft 2 is provided with a main shaft driving device 5, and the intersection of the main shaft 2 and the auxiliary shaft 3 is provided with an auxiliary shaft driving device 6. The spindle driving device 5 comprises a spindle driving motor 7, the spindle driving motor is fixedly hung below the spindle, the axis of the spindle driving motor is parallel to the axis of the spindle, spindle driving gears which are meshed with each other are respectively arranged on the spindle driving motor and the spindle to form a spindle driving gear set 8 for transmitting torque, and a speed reducer is arranged at the output end of the spindle driving motor. The auxiliary shaft driving device 6 comprises an auxiliary shaft driving motor arranged on the main shaft, the auxiliary shaft driving motor and the auxiliary shaft are respectively provided with an auxiliary shaft driving gear which is meshed with each other, an auxiliary shaft driving gear set for transmitting the rotation torque of the auxiliary shaft is formed, and the output end of the auxiliary shaft driving motor is provided with a speed reducer.
The external structure of the rolling robot housing 1 of the present invention is shown in fig. 3 and 4. Two ends of the main shaft 2 extend out of the shell 1 and are respectively connected with a telescopic arm 9 which is arranged along the radial direction of the main shaft. The telescopic arm is an electric push rod, one end of the telescopic arm is a control end, the other end of the telescopic arm is a telescopic end 12, and a push rod motor 10 is arranged on one side of the control end of the telescopic arm. The telescopic arm 9 and the main shaft are rotatably connected through a steering engine 11, and an angle control sensor is integrated on the steering engine. As shown in fig. 8, telescopic boom 9 embraces the clamp and fixes on telescopic boom connecting seat 13, and telescopic boom connecting seat 13 passes through telescopic boom connecting bearing 14 direct mount at the tip of main shaft 2, and steering wheel 11 also embraces and establishes on main shaft 2 and connect telescopic boom connecting seat 13, can control telescopic boom rotation and feedback angle control information like this, can let telescopic boom weight directly bear by the main shaft again, need not the steering wheel switching, reduce the steering wheel heavy burden, guarantee control accuracy. The telescopic arm 9 is adjusted through the mounting position, and when the telescopic arm is in a contraction state, the center of the telescopic arm 9 is located on the axis of the main shaft, the telescopic arms 9 at the two ends of the main shaft 2 are symmetrically arranged, the combined center of gravity of the telescopic arms at the two ends of the main shaft is located on the vertical plane of the shell, and unbalance of the two sides of the shell is avoided. When the telescopic arm is contracted, both ends are contracted to the inner side of the circumference of the main roller path of the shell.
The calculation process of the rolling robot crossing the steps is shown in fig. 5, and the front and back states of the rolling robot crossing the steps are shown in fig. 6 and 7. When the height of the step does not exceed the radius of the shell, a contact point between the shell and the step is set as a point A, a contact point between the shell and the ground is set as a point B, the radius of the shell is R, the height of the step is h = xR, the value range of x is 0 to 1, the distance from the point B to a ground projection point of the point A is d, after the shell spans the upper step, the distance from the center to the point B is L, and the included angle between the telescopic arm and the ground vertical line is theta.
And calculating to obtain the distance from the point B to the ground projection point of the point A as follows:
Figure 137112DEST_PATH_IMAGE001
；
from the above formula, after the housing spans the upper step, the distance from the main shaft of the housing to the point B:
Figure 523094DEST_PATH_IMAGE002
，
when x is a maximum of 1, the distance between the extension end 12 of the telescopic arm and the main shaft is a maximum of 2.236R.
The angle theta of the telescopic arm and the angle ground vertical line after completely crossing the step is calculated as follows,
Figure DEST_PATH_IMAGE003
and obtaining a derivative:
Figure 942312DEST_PATH_IMAGE004
when x =0.5, θ takes a maximum value of 30 °.
tan30 degrees is approximately equal to 0.5774, so if the friction coefficient of the contact point B is larger than 0.5774, the friction force can be self-locked, the telescopic arm cannot slip, and enough lifting force is provided to enable the rolling robot to cross steps.
Therefore, if a step with the same height as the radius of the shell needs to be crossed, when the telescopic end 12 of the telescopic arm is in the maximum extension stroke, the distance between the end point of the telescopic end 12 of the telescopic arm and the main shaft is more than 2.236 times of the radius of the shell of the rolling robot, the overall length of the telescopic arm in the retraction state is less than the diameter of the shell of the rolling robot, the extension end 12 of the telescopic arm is provided with a friction block, the friction coefficient of the friction block and the ground contact point is not less than 0.5774, the axial force of the telescopic arm is different according to different self weights of the shell, and the axial force of the telescopic arm in the embodiment is more than 1000N. The steering engine 11 does not need to be powered constantly to keep a specific angle, and only self-locking is realized through friction force, so that resultant force passes through the main shaft to lift the shell.
When the height of the step exceeds the radius of the shell, the extension end of the telescopic arm extends to lift the shell, the shell rolls upwards along the vertical side wall of the step until the shell contacts with the edge of the step to form a point A in the calculation process, and when the maximum extension stroke of the telescopic end 12 of the telescopic arm exceeds more than 2.236 times of the radius of the shell of the rolling robot, the rolling robot can theoretically climb over the step with the height exceeding the radius of the shell. In practical tests, a shell with a radius of 20cm can be overturned over a step with a height of 22 cm.
And a control system and a power supply module are also arranged in the shell, the control system comprises a dynamic state sensor and a PID controller, the dynamic state sensor is used for detecting the real-time dynamic state of the robot and the driving system, and the sensor comprises a GPS, at least one gyroscope, at least one acceleration sensor and a coded disc. The GPS, the gyroscope, the acceleration sensor and the PID controller can be arranged at the intersection of the main shaft and the auxiliary shaft, and the coded disc is arranged on the output shaft of the motor. And their respective detection data are transmitted by wire or wirelessly to the control unit or an external remote computer for further processing. The power module can supply power for the main shaft driving device, the auxiliary shaft driving device, each control system and the telescopic arm.
When the rolling robot rolls on a flat ground or a gentle slope normally, the telescopic arm is in a contraction state, and the telescopic arm rotates to be parallel to the auxiliary shaft, so that the rolling of the rolling robot is not influenced; when the device crosses a step, the main shaft rotates to drive the inner swing block to swing towards one side of the step to enable the shell to be attached to the step and always remain attached to the step, the extension end of the rotary telescopic arm extends downwards, the extension end of the telescopic arm extends to abut against the bottom surface to continuously lift the shell, the relative height difference between the bottom surface of the shell and the step is continuously reduced, when the driving force of the inner swing block is enough to overcome the relative height difference between the bottom surface of the shell and the step, the shell continuously rolls over the step, at the moment, the telescopic arm retracts and rotates to be parallel to the auxiliary shaft, and the rolling robot returns to normally roll.

Claims (7)

1. The utility model provides a rolling obstacle crossing robot of flexible arm in area, includes the casing that can roll, its characterized in that: a horizontally arranged main shaft is erected between the left side wall and the right side wall of the shell, the main shaft can rotate relative to the shell, an auxiliary shaft which is horizontally arranged and is perpendicular to the main shaft is arranged in the center of the main shaft, the auxiliary shaft can rotate and can rotate along with the main shaft, an inner swing block is hung below the auxiliary shaft, two ends of the main shaft extend out of the shell and are respectively connected with telescopic arms, and the telescopic arms can be arranged in a telescopic mode along the radial direction of the main shaft; when the rolling robot crosses the step, the main shaft rotates to drive the inner swinging block to swing towards one side of the step to enable the shell to be attached to the step and keep attached all the time, the telescopic arm is rotated to enable the extension end to face downwards, the extension end of the telescopic arm extends to lift the shell continuously, the relative height difference between the bottom surface of the shell and the step is reduced continuously, when the driving force of the inner swinging block is enough to overcome the relative height difference between the bottom surface of the shell and the step, the shell rolls continuously over the step, at the moment, the telescopic arm retracts, and the rolling robot returns to roll normally;
the telescopic arm and the end part of the main shaft are rotatably connected, and the rotary driving piece of the telescopic arm and the end part of the main shaft is a steering engine, a pan-tilt motor, a direct current motor or a servo motor; the telescopic arm is sleeved with the end part of the main shaft through a bearing, and the rotary driving piece is erected on the main shaft to drive the telescopic arm to rotate; and the extending end of the telescopic arm is provided with a friction block for improving the friction coefficient.
2. The rolling obstacle crossing robot with the telescopic arm as claimed in claim 1, wherein: an angle control sensor is arranged between the telescopic arm and the end part of the main shaft.
3. The rolling obstacle crossing robot with the telescopic arm as claimed in claim 1 or 2, wherein: one or more telescopic arms are respectively arranged at two ends of the main shaft, the gravity center of the main shaft in a telescopic arm contraction state at one single end of the main shaft is positioned on the axis of the main shaft, and the centers of all the telescopic arms at two ends of the main shaft in a telescopic state are positioned on the vertical plane in the shell.
4. The rolling obstacle crossing robot with the telescopic arm as claimed in claim 1 or 2, wherein: the telescopic arm is an electric push rod, a pneumatic rod or a hydraulic rod.
5. The rolling obstacle crossing robot with the telescopic arm as claimed in claim 1 or 2, wherein: under the contraction state of the telescopic arm, two ends of the telescopic arm do not exceed the peripheral surface of the rolling ring of the shell; and in the extension state of the telescopic arm, the extension end of the telescopic arm extends out of the peripheral surface of the rolling ring of the shell.
6. The rolling obstacle crossing robot with the telescopic arm as claimed in claim 1 or 2, wherein: the main shaft is provided with a main shaft driving device, and an auxiliary shaft driving device is arranged at the intersection of the main shaft and the auxiliary shaft.
7. The rolling obstacle crossing robot with the telescopic arm as claimed in claim 1 or 2, wherein: the shell is of a bilateral symmetry structure, and the middle of the circumference of the shell surrounding the main shaft is a circular main raceway moving in the front-back direction.
CN202011433999.0A 2020-12-10 2020-12-10 Rolling obstacle crossing robot with telescopic arm Active CN112548984B (en)

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