A folding can be reconstructed multi -mode mobile robot

Abstract

The invention relates to a folding and unfolding reconfigurable multi-mode mobile robot, which comprises an upper folding and unfolding platform, a lower folding and unfolding platform and a folding and unfolding connecting rod. The upper folding and unfolding platform and the lower folding and unfolding platform are arranged in parallel and symmetrically. The rods are arranged in multiple groups, and the two ends of the folding and unfolding connecting rods are correspondingly connected with the corner points of the upper folding and unfolding platform and the lower folding and unfolding platform in a one-to-one correspondence, and each active connection point forms an active node and configures the node The driving member; when the upper folding platform and the lower folding platform are in the folded state, the upper folding platform and the lower folding platform are in a line shape, and when the upper folding platform and the lower folding platform are in the unfolded state, The upper folding and unfolding platform and the lower folding and unfolding platform are unfolding planes. When the folding and unfolding link is in the folded state, the upper folding and unfolding platform and the lower folding and unfolding platform are in close contact. When the folding and unfolding link is in the unfolded state , the upper folding platform and the lower folding platform are separated. Compared with the prior art, the present invention has the kinetic energy of folding and storage, and has various movement modes.

Description

technical field [0001] The invention relates to the technical field of mechanical design, in particular to a foldable and reconfigurable multi-mode mobile robot. Background technique [0002] In the process of various engineering exploration and environmental reconnaissance, the use of mobile robots that can realize various motion modes replaces manual detection tasks in complex and unknown terrain environments, which will greatly reduce human accidents and tasks that may occur in the task. Therefore, mobile robots with multiple motion modes have practical engineering significance in the fields of engineering exploration, space exploration, and military reconnaissance. [0003] CN111152190A discloses a multi-movement mode mobile parallel mechanism suitable for unstructured terrain and its gait control method. However, the robot of this parallel mechanism occupies a large area, does not have the kinetic energy of folding and storage, and at the same time, its movement mode is...

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Problems solved by technology

[0003] CN111152190A discloses a multi-motion mode mobile parallel mechanism and its gait control method suitable for unstructured terrain. However, the robot of this parallel mechanism occupies a large area and does not have the kinetic energy for folding and storage. At the same time, its motion mode is relatively single , which only has a variety of rolling motion forms

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