1066results about How to "Improve obstacle performance" patented technology

The present invention relates to one kind of small explosive eliminating and hazardous article eliminating robot, which includes one running part, one manipulator part, one body part, one cradle part and one control part. The equipment compartment and battery compartment of the body part and the cradle part are set on the back chassis, the running part including one right part and one left part is connected symmetrically on two sides of the front chassis and the back chassis in the body part and has two tail supports, and the manipulator part set on the front chassis of the body part has multiple freedoms for sufficient grasping capacity and high capacity of passing through narrow space. The small explosive eliminating and hazardous article eliminating robot has functions similar to that of large robot, great topographic adaptability and high obstacle surmounting capacity, and may be applied directly for eliminating explosive and hazardous article.

The invention relates to a biomimetic quadruped robot provided with head and tail balance adjustment devices. The biomimetic quadruped robot comprises a trunk, a head balance adjustment device, a tail balance adjustment device and four robot legs, wherein the four robot legs are distributed under the robot trunk, and the head balance adjustment device and the tail balance adjustment device are located on a trunk front portion cross beam and a trunk back portion cross beam. The biomimetic quadruped robot uses a digital steering engine as a driver, and the steering engine can achieve speed and position control and feed back speed, positions, force moment and other information and facilitates on-line observation of a motion state of the robot. Each leg is provided with three driving freedom degrees and one driven extension freedom degree, three-dimensional space motion can be achieved, and the robot can have strong adaptive capacity to complex environments and obstacle crossing ability. The centre-of-gravity position of the robot can be timely adjusted when the robot with the head and tail balance adjustment devices walks in a static state, and the stability of the robot is improved. When the robot is in a unstable state, namely turns over, and reverse rotation force moment is produced by rapidly rotating the head and the tail to prevent the robot from turning over and being restored to be in a balanced state. The biomimetic quadruped robot provided with the head and tail balance adjustment devices is suitable for the multiple fields of military affairs civil cargo transportation, anti-terrorist devices, filed probing, planetary exploration and the like under complex terrain environments.

The invention relates to a robot for disposing dangerous goods and ammunition, which is structurally characterized in that a rotation platform and a crawler-type travelling mechanism are mounted on a frame, a mechanical arm is mounted on the rotation platform, a manipulator is connected to the front end of the mechanical arm, a rotation cylinder is mounted on the lower portion of the rotation platform, the mechanical arm comprises a large arm, a small arm, a telescopic arm, a large arm cylinder, a small arm cylinder and a telescopic control motor, and the manipulator comprises a wrist lifting mechanism, a wrist rotating mechanism and a pick-and-place mechanism. The robot is large in grabbing torque, high in precision, fine in stability, wide in operation range, convenient and flexible in control, convenient in operation, stable and reliable in running, high in cost performance and capable of disposing the dangerous goods, the ammunition and the like within a limited distance by means of remote control.

The invention discloses an air flight and omnibearing adsorption micro-robot which comprises an adsorption device, an adsorption joint arm, a joint arm driving steering gear, four rotor wings, four rotor wing motors, four drivers, a robot body and a remote controller, wherein the adsorption device is arranged at one end of the adsorption joint arm, the other end of the adsorption joint arm is connected with an output shaft of the joint arm driving steering gear, the joint arm driving steering gear is arranged on a steering gear support, the steering gear support is fixedly mounted on the robot body, the four rotor wings are fixedly mounted on the respective rotor wing motors, the four drivers are respectively connected with the respective rotor wing motors, and the remote controller is used for sending a control command to the robot body for realizing air flight and omnibearing adsorption. The air flight and omnibearing adsorption micro-robot can realize air flight based on the four rotor wings and has the characteristic of stable low altitude flight, the robot can own the capability of being inhabited and adsorbed on the surface of an object in the air through the adsorption device, and the mechanism of imitating the flight and the inhabitation of a flying organism can be realized.

The invention relates to a moving mechanism of a hydraulic drive four-leg robot with a barycenter adjusting device, which comprises a body, a moving bracket, a barycenter adjusting device and four robot legs, wherein the lower part of the body is provided with the four robot legs; and the upper part of the body is connected with the moving bracket with the barycenter adjusting device. The moving mechanism is characterized as follows: (1) the robot has larger loading capability due to hydraulic drive; (2) the robot has higher complex terrain environment adaptability and obstacle-climbing capability as each leg has four active joints and has redundant degree of freedom; (3) the robot has better stability due to the barycenter adjusting device and no additional counter weight; and (4) the robot has simpler structure and is easily machined as the 16 active joints thereof completely adopt the same hydraulic servo oil cylinder drive. The moving mechanism is suitable for the transportation of military and civil materials, anti-terrorist equipment, field prospection and exploration, planetary detection, agricultural production and the like under the complex terrain environment.

The invention discloses a traveling mechanism of a robot on a high voltage transmission line, which is characterized in that 3 traveling arms including a fore arm, a middle arm and a rear arm are arranged on a robot main body. When the robot travels on the transmission line, the fore arm and the rear arm are on the same side of the transmission line, and the middle arm is on the other side of the transmission line. Each traveling arm comprises a traveling wheel, a lifting arm, a braking mechanism and a swing arm, wherein one end of the swing arm is connected with the robot main body through a swing joint, and the other end is connected with the lower end of the lifting arm; the traveling wheel is installed at the side part on the upper end of the lifting arm; and the braking mechanism is installed on the lifting arm and below the traveling wheel. The traveling mechanism can drive the robot to conveniently cross various obstacles on the transmission line, and the stability is good.

The invention relates to a fire-fighting robot facing a complex ground environment. The fire-fighting robot includes a fire-fighting robot device, a controlling table, a fire-fighting water monitor, afire detection assembly, a flame automatic targeting assembly, a water belt automatic shedding assembly, a self-sprinkler assembly and an environmental parameter collection module. The movement performance and safety in a complex ground fire-fighting environment can be ensured or improved; the loading capacity of the fire-fighting robot is improved; when dragging a fire fighting water hose in theback, the resistance capacity to tension, the obstacle climbing capacity, the stair climbing capacity and the capacity of passing an uneven unilateral bridge are improved; the fact that the fire-fighting robot can also move when the flame burns the fire-fighting robot body or a caterpillar band is ensured; the automatic shedding assembly of the fire-fighting water monitor connection mouth is improved so that the success self-preservation rate when the robot retreats is improved; the device of the fire-fighting robot of automatic searching for the flame and automatic controlling of collimationof the fire-fighting water monitor is added; so that fire-fighting efficiency and the degree of automation of the fire-fighting robot are improved.

The invention relates to a reverse thrust and negative pressure combined adsorption method applied to a wall-climbing robot and realization thereof. When a suction disk(1) of the wall-climbing robot is contacted with the wall surface, air flow enters a cavity(4) of the suction disk(1) from the gap between the suction disk(1) and the wall surface through a propeller(3) rotating at a high speed in a guiding channel, and is discharged from the guiding channel (5) in which the propeller(3) on the top of the suction disk(1) is arranged, and the superimposed effect of the adsorption force generated due to the negative pressure state in the suction disk(1) and the reverse thrust generated due to the high-speed rotation of the propeller(3) in the guiding channel is formed, so that the adsorption force between the suction disk(1) of the wall-climbing robot and the wall surface is kept in the range of enough threshold value. The robot is ensured to be dynamically adsorbed on the wall surface, and flexibly moved. By the application of the theory and the realization method, the wall-climbing robot can realize small size, light weight, low noise, energy conservation, unnecessary complex suction disk sealing device and strong obstacle crossing capability.

The invention discloses a diameter-variable wheel for automatically adapting to a road surface, which comprises a plurality of outer wheel blades, a plurality of inner wheel blades and a plurality of connecting rod wheel blades; middle parts of the plurality of inner wheel blades are respectively provided with a telescopic strut bar fixed on a circumference of a central wheel hub; end faces on two sides of the central wheel hub are provided with a plurality of crank-slider mechanisms connected with the inner wheel blades, and are provided with a driving device for driving the plurality of crank-slider mechanisms; and one ends of connecting rods of the crank-slider mechanisms are connected with the inner wheel blades through revolute pairs, and the other ends of the connecting rods of the crank-slider mechanisms are connected with cranks through revolute pairs. The diameter-variable wheel solves the contradiction between wheel obstacle-surmounting performance and volume structure restraint, effectively improves the adaptability of the wheel, and solves the problems of the conventional wheels in the environments of underground, planetary surfaces or other comprehensive road surfaces. The wheel controls a servo motor to drive the cranks to rotate a certain angle, and the crank-slider mechanisms parallelly drive the inner wheel blades to radially expand or contract, so that the wheel diameter is continuously variable. The diameter-variable wheel can realize diameter-expanded obstacle surmounting, walking obstacle surmounting, tolerance obstacle surmounting and the like, and the adaptability and the flexibility of the wheel for different road surfaces are enhanced.

The invention relates to a wall-cleaning robot based on the positive and negative pressure absorption principle. The wall-cleaning robot of the invention solves the problems of complicated structure, bad wall absorption effect, and bad obstacle-crossing capacity and so on, existing in the existing wall-cleaning robot. A cleaning mechanism (71) and a water inlet and outlet mechanism of the invention are installed in a shell body (2); a wheel type traveling system (70) is installed at the lower part of the shell body (2); a three-phase motor (13) is installed on the upper end face of the shell body (2); the outer rotors of the three-phase motor (13) are respectively and fixedly provided with a propeller (1) and a centrifugal fan in sequence from top to bottom; the external housing of the three-phase motor (13) is communicated with the inner cavity of the shell body (2); a dry brush (9), a wet brush (27), a suction roll (32) and a squeeze roll (44) are installed in the shell body in sequence from front to rear. The wall-cleaning robot of the invention has the advantages of good wall absorption effect, better obstacle-crossing capacity and simple structure and can be remotely controlled.

The invention relates to an anti-explosion fire reconnaissance firefighting robot which comprises an anti-explosion fire reconnaissance firefighting robot movable base plate, a manipulation control box, an anti-explosion fire water monitor, an anti-explosion reconnaissance assembly, an anti-explosion road condition shooting assembly, an anti-explosion fire hose falling-off assembly and an anti-explosion self-spraying cooling assembly. The movement and safe properties of the fire reconnaissance firefighting robot under the environments of the complex ground and severe disasters are improved; the anti-explosion capacity and the waterproof property of the fire reconnaissance firefighting robot are improved; the loading capacity of the fire reconnaissance firefighting robot is improved; and the tensile capacity, the obstacle crossing ability, the stair climbing capacity and the capacity of passing of a 'unilateral bridge' with the left portion and the right portion being different in height during dragging of a fire hose from the rear portion are improved. It is ensured that when flames burn a fire reconnaissance firefighting robot body or a track, the fire reconnaissance firefightingrobot can still move; and the success self-protection rate during robot withdrawing is increased, the automation degree of the robot is increased, the application range of the fire reconnaissance firefighting robot is enlarged, and the practicability of the fire reconnaissance firefighting robot is improved.

The invention relates to a minitype wheel / caterpillar structure-variable mobile-search reconnaissance robot, which mainly comprises a case, road wheels, an electric motor, an interconversion mechanism that can carry out mobile interconversion between the wheel type and caterpillar type, an elastic caterpillar, a running gear, a reconnaissance device, a mobile driving mechanism, a self-locking mechanism and a robot case, wherein, the rear part of the robot case is provided with a universal wheel, the robot case and the reconnaissance device are connected through a live shaft to form a robot. The robot has the characteristics of both the quick movement of a wheel type mobile robot and good through-obstacle capability of a caterpillar type mobile robot, namely that the robot adopts the wheel type movement to get fast-moving performance under good ground condition, and can change the motion mode of the motion mechanism into the caterpillar type movement that has favorable through-obstacle capability under poor ground conditions such as meeting with obstacles, stairway or non-hard road surface.

The invention discloses a frog jump robot. A motor is used as a power element; devices such as an overrunning clutch, a gear toothed belt and the like are used as transmission mechanisms; a slide block can move on a guide rail under the drive of the motor through the transmission devices; and double legs of the robot stretch or retract under the drive of the slide block so as to finish jump motion. After the robot jumps, the double legs immediately retract to perform air posture adjustment, and the double legs are fully retracted by using self gravity potential and kinetic energy at the monument of landing to perform posture adjustment again. The energy utilization rate of the power element is improved, reclamation and reutilization of energy during jumping are realized, the flexibility of the robot is increased, and the jumping capability of the robot is promoted.

The invention relates to a wheel type barrier-crossing wall-climbing robot in the technical field of robot, comprising a robot frame, three groups of mobile adsorption mechanisms and linear slide rails, screw rods and drive motors corresponding to the three groups of mobile adsorption mechanisms, the three groups of linear slide rails and the screw rods are vertically arranged below the robot frame and the two ends thereof are respectively connected with the robot frame and the mobile adsorption mechanism, and the drive motors are fixedly connected with the mobile adsorption mechanisms. The robot of the invention solves the problem of the existing wall-climbing robot in vertical wall surface operation, has the characteristics of fast speed and flexible steering of the wheel type mobile robot and large magnetic adsorption force of the crawler-type mobile robot, features good barrier-crossing capacity and can meet the demands of motion and operation in complex environments.

The invention relates to a triangular crawler walking system with a suspended shock-absorbing device. The triangular crawler walking system comprises a driving wheel, a tensioning wheel, a guide wheel, supporting wheels, a crawler and a support. The tensioning wheel and the guide wheel are respectively arranged at the two ends of the support. The driving wheel is arranged above the support. The supporting wheels are arranged between the tensioning wheel and the guide wheel and are connected with the support. The crawler surrounds the driving wheel, the tensioning wheel, the supporting wheels and the guide wheel to form a triangular structure. The supporting wheels are connected with the supporting through the suspended shock-absorbing device. The tensioning wheel is connected with the support through a V-shaped swinging rack. An adjusting rod which can adjust the tightness of the crawler is arranged between the swinging rack and the support. The support, the swinging rack and the adjusting rod form a linkage mechanism which can enable the tensioning wheel to swing. The triangular crawler walking system with the suspended shock-absorbing device has the beneficial effects that: 1) the rapid switching between a tire type and a crawler type of a skid loader can realized; and 2) by adopting the suspended shock-absorbing device, the obstacle detouring capacity of the entire loader is improved, the shock absorbing effect is guaranteed and the service life of the crawler walking system is improved.

The invention provides a composite mobile robot with wheel-track legs. The composite mobile robot comprises a frame, track arms, support legs and a wheeled elevating mechanism, wherein the track arms are connected with the frame through an inner shaft and an outer shaft, the four sets of the track arms are symmetrically distributed at four corners of the frame; the support legs are connected with the frame through a support leg transmission shaft, and the two support legs are symmetrically distributed in front of and behind the frame; the wheeled elevating mechanism is connected with the frame through a connecting plate, and is arranged at the middle part of the frame. According to the composite mobile robot disclosed by the invention, motors are used for driving the track arms, the support legs and the wheeled elevating mechanism to move, so that the robot has different postures, the composite motion manner of wheels, tracks and legs is realized, and the obstacle surmounting capacity is greatly improved.

A probe vehicle wheel with variable diameter elastically capable of automatic extension relates to a probe car wheel. The invention solves the problem that the existing lunar vehicle has bad obstacle ability when meeting high barriers and traveling on loose and soft lunar slope as the wheel of the existing lunar vehicle is rigid wheel and the devices inside the wheel are impacted due to collision between the wheel and hard object. A driving flange is connected with the output end of a speed reducer in a driving device, the driving flange is hinged with a plurality of support bars, the other end of the support bar is hinged with a slide bar, one end of the slide bar is fixedly connected with the inside wall of a flange sheet, the other end of the slide bar is sleeved with a spring and is inserted in a corresponding sliding chute together with the spring, the slide bar can radially slide along the sliding chute, one end of the spring is fixedly connected with the slide bar, the other end of the spring is fixedly connected with the bottom of the sliding chute, a limited block is installed inside the sliding chute and positioned outside the spring, and a plurality of tooth sheets are uniformly distributed on the flange and are fixedly connected with the flange. In the invention, the wheel diameter can be adjusted automatically according to topographic condition, thereby improving wheel traveling ability and reducing the impact of wheel for the devices inside.

Provided is a robot used to ride on power transmission lines or climb between power transmission steel towers, comprising a pair of mechanical arms. The upper ends of the mechanical arms are equipped with a clamping device which is capable of rotating around a mounting shaft, and the clamping device is provided with a gripping jaw which is capable of clamping a strain tower angle-bar and directing lines, and a roller which can be hung on the directing lines. Lower ends of the mechanical arms are installed on a slipway which can relatively slide along a guide rail, arms are capable of rotating around the mounting shaft and can do swaying movement, a control and driving unit is installed in an electric box which is arranged at the bottom portion of a hanger and the slipway, and the control and driving unit can slide along the guide rail, playing a key role in regulating the center-of-gravity position of the robot. The invention is compact in structure, the articulated linkwork is capable of accomplishing complex operation among different vertical planes, and the invention can climb over all structural forms of steel towers and has wide using range, being capable of realizing the automatic inspection on the full power transmission lines and replacing human workers.

The invention relates to an amphibious bionic robot which is characterized in that the amphibious bionic robot includes a sealed main cabin body and four propeller leg complex propelling mechanisms. A control device, a power supply device and a waterway environment detection sensor are arranged in the main cabin body; the four propeller leg complex propelling mechanisms are opposite in pairs and symmetrically arranged on two sides of the main cabin body; each propeller leg complex propelling mechanism includes two driving rods, a driven rod and a swing propeller; one end of each driving rod is respectively connected with the output ends of two motors; one driving rod is close to the middle part of the main cabin body, and the other end of the driving rod is connected with one end of the swing propeller through a rotating shaft; the other driving rod is close to the outer side of the main cabin body, the other end of the driving rod is connected with the driven rod through a rotating shaft; the driven rod is connected with the middle position of the swing propeller, the other end of the swing propeller is an execution tail end. The amphibious bionic robot has the advantages of good adaptability to environment, stability and reliability, and flexible movement, thereby the amphibious bionic robot can complete various tasks for prospecting, working, etc. in marshes and offshore water, and play an important role in an offshore landing battle in the future.

The invention discloses a wheel-track compound deformation track robot which comprises a machine frame and a spindle installed on the machine frame. Two deformation track wheels capable of being converted between a circle and a triangle and being provided with power devices are installed at two ends of the spindle respectively, two support frames are installed on the front side and the rear side of the machine frame respectively, and follow-up guide wheels are installed at the bottom ends of the support frames. The wheel-track compound deformation track robot has the advantages of moving flexibly, being strong in adapting capability and simple in structure and working stably.

The invention discloses a miniature crawler-type cable tunnel patrol robot, which relates to a robot capable of realizing cable tunnel / pipeline patrolling. The robot consists of two independent crawlers, a substrate, a posture setting mechanism, a camera with a holder, and a sensor. The posture setting mechanism is arranged in the substrate. The camera with the holder is arranged on the substrate. The two crawlers are positioned on the left and right sides of the substrate respectively, and are in rotational connection with driving connecting rods on the substrate and the posture setting mechanism by two groups of shafts respectively. The sensor is arranged on the substrate. The left and right independently driven crawlers are adopted, and a posture included angle formed by the two groups of crawlers can be set, so the robot can be adapted to either the smooth-riding surfaces of cable tunnels or the arched surfaces of pipelines of different diameters by regulating the posture included angle, and realizes advancing, stepping-back and various turning motions by controlling the motions of the left and right crawlers. The robot realizes the automatic patrolling of underground transmission lines.

The invention discloses a robot structure which can jump by imitating the leg shape of the kangaroo. A load is arranged on the frame, a knee joint of the robot is connected with the lower side of the frame by a holding frame. The knee joint of the robot is connected with the lower leg of the robot by a leg part axis. The lower end of the lower leg is the ankle joint of the robot; the sole is connected with the lower leg by the sole axis at the ankle joint, meanwhile the ankle joint is at the one-third position of the sole. The sole and the toes are connected by a toe axis, and the toe axis is arranged at the front end of the sole. One end of the lower-arranged spring is arranged at the back end of the sole, and the other end of the lower-arranged spring is arranged at the two-fifth position of the lower leg. One end of the upper-arranged spring is arranged at the upper end of the lower leg, and the other end of the upper-arranged spring is arranged at the half position of the frame. The power mechanism is respectively connected with the lower leg and the sole by an upper earring and a lower earring. The robot structure has the advantages of improving the jump efficiency of the robot and reinforcing the jumping ability.

The invention provides a pull rod type suspended robot wheel leg walking mechanism, comprising a frame, a pull rod rocker differential suspension system, a left wheel leg system and a right wheel leg system, wherein the pull rod rocker differential suspension system comprises a rotating arm component, a left pull rod, a right pull rod, a left rocker, a right rocker and a plurality of connecting pieces; the rotating arm component comprises a middle rotating shaft and a rotating arm; the middle rotating shaft is connected with the frame by a bearing; the rotating arm is connected with the middle rotating shaft; and two ends of the rotating arm are respectively connected with one ends of the left pull rod and the right pull rod by the connecting pieces; the other ends of the left pull rod and the right pull rod are respectively connected with the left rocker and the right rocket by the connecting pieces; and the left rocker and the right rocker are respectively connected to the left wheel leg system and the right wheel leg system which are arranged on left and right sides of the frame. The pull rod type suspended robot wheel leg walking mechanism has the advantages of high efficiency, stability, good performance of overcoming obstacles and light weight.

The invention relates to a robot traveling device with a liftable frame. The traveling device is provided with a frame (1), four wheels (2), independent suspension brackets and a motor driving device, wherein each independent suspension bracket and the motor driving device are arranged between each wheel (2) and the frame (1); each independent suspension bracket consists of a cantilever (3) and adamper; the axis of the cantilever (3) is positioned in a longitudinal vertical plane of the frame (1), one end of the cantilever (3) is hinged with the frame (1), and the other end of the cantilever(3) is hinged with an axle (11) of the wheels (2); the lower end of the damper is hinged with the middle part of the cantilever (3), and the upper end of the damper is hinged with the frame (1); and the traveling device is characterized in that: the damper consists of an electric push rod (4) and a bidirectional telescopic damper (5) which is coaxially and serially arranged on the end part of a push rod (4-2) of the electric push rod (4). The traveling device has the advantages of high obstacle surmounting capacity and stable and safe traveling.

The invention relates to a house lizard robot formed by mechanical part and circuit part, wherein the mechanical part is divided into front working part and back working part while they are symmetry and connected by flexible rod; each part is formed by body, two soles and two legs; each leg is formed by upper leg element, lower leg element and leg root element with controllable freedoms; two ends of upper leg element, one end of lower leg element, and one end of leg root element are hinged by steering engine; the circuit part comprises single chip, digit switch control circuit, steering engine, absorber and power source; the power source powers the single chip, the absorber and the steering engine; the single chip outputs PWM wave shape to control the angle f steering engine, to control the step of robot; and the single chip controls the digit switch circuit to release and operate the absorber. The invention can steer in small radius.

The invention relates to a six-wheel / leg half ball shell detecting robot, pertaining to the celestial body detecting facility field, which comprises a body and a moving mechanism connected which the body. The body comprises an upper chassis and a lower chassis, and a vision mechanism positioned at the upper end and a half ball shell; wherein the upper and lower chassis consists of two layers of round tray type structures which are parallelly arranged; the interlayer of the component is provided with an energy module; the circumferential edge between the upper chassis and the lower chassis is evenly provided with six wheel / leg structures. The middle part of the upper chassis is provided with an interlayer supporting component which fixes the vision mechanism which can be lifted. The robot can adapt to special environment through changing the different moving manners of the robot. The invention has the advantages of the foot type walking mechanism of a wheel type steering mechanism; the six groups of wheels / legs can realize a plurality of moving manners so as to realize no-radius turning; the two legs of the detecting robot can realize the function of an operation arm; flexible and reliable operation also can be progressed in special environment through arranging various additional devices.

The present invention is one four wheel or six wheel differential torsion bar spring vehicle suspension mechanism, which consists of a vehicle body, a four wheel or six wheel independent suspension mechanism, a differential device inside the vehicle body. The independent suspension mechanism has two independent two or three wheel suspension mechanism units separately on two sides of the vehicle body, and the differential device is fixed to these two suspension mechanism units. The present invention has the advantages of less wheels, light weight, low power consumption and easy control, and may be used in lunar rover and planet rover as well as all terrain vehicle and toy vehicle.

The invention relates to a search and rescue robot used in pit, belonging to the robot technology field. The search and rescue robot comprises an explosion-resistant enclosure, two sets of symmetrical running system, independent swinging arm systems and a controlling system; transmission mechanisms of the controlling system, the running systems and the swinging arm systems are arranged in the explosion-resistant enclosure, the controlling system is connected with a driving mechanism, a mechanical cradle head and an optical fiber laying device are arranged above the explosion-resistant enclosure, the optical fiber of the optical fiber laying device is electrically connected with the controlling system, a sensor group is internally arranged in the mechanical cradle head, and the sensor group and a cradle head drive plate are electrically connected with the controlling system. A static positive pressure explosion-resistant enclosure is adopted in the invention, when the static positive pressure is reached, the moving ability of the robot is improved. A four-swinging-arm independent driving mechanism is adopted, the posture of the robot is accurately controlled, and the adaptbility and the barrier jumping ability of the robot to a complex terrain are increased. The method of vehicle-mounted optical fiber is adopted, the optical fiber is laid freely during movement, and the effect to the moving ability of the robot, which is caused by the friction of the optical fiber and the clamping of the optical fiber, is reduced.

The invention provides a wheel-legged obstacle crossing robot, and belongs to the field of mobile robots. The wheel-legged obstacle crossing robot comprises a frame and a wheel leg mechanism, connected with each other; the wheel leg mechanism comprises a frame joint, a mechanical arm steering device, a mechanism arm, a wheel body steering device and a wheel body device; the mechanical arm steeringdevice is rotationally connected with the frame joint; one end of the mechanical arm is connected with the mechanical arm steering device, and the other end of the mechanical arm is connected with the wheel body steering device; the wheel body device is rotationally connected with the wheel body steering device; the mechanical arm comprises a telescopic driving device and a quadrangular mechanismcapable of being folded and deformed; and a fixed end and an expansion end of the telescopic driving device are separately connected with the two ends of a diagonal of the quadrangular mechanism. Themechanical arm steering device can be used for driving the mechanical arm to rotate horizontally, the wheel body steering device can drive the wheel body device to rotate horizontally, and the mechanical arm moves in the height direction through the telescopic driving device of the mechanical arm, so that the wheel-legged obstacle crossing robot achieves the omnibearing driving of multiple degrees of freedom, thereby having high obstacle crossing performance.

The invention discloses a deformed caterpillar robot which comprises a robot stand and a robot body, wherein robot body is installed on the robot stand; both sides of the robot stand are respectively provided with a set of deformed caterpillar running mechanism; each deformed caterpillar running mechanism comprises a traveling drive shaft, a caterpillar deformed drive shaft, a caterpillar and a deformed oscillating bar mechanism; each traveling drive shaft and each caterpillar deformed drive shaft are arranged on the robot stand in parallel; one end of each deformed oscillating bar mechanism is fixedly connected with each caterpillar deformed drive shaft, and the other end is supported on each traveling drive shaft by a bearing; a drive caterpillar wheel is installed on each traveling drive shaft; driven caterpillar wheels are both arranged on each caterpillar deformed drive shaft and each deformed oscillating bar mechanisms; and each drive caterpillar wheel and all driven caterpillar wheels are meshed with each caterpillar. The deformed caterpillar robot has steady running, high obstacle crossing and climbing capability, simple structure, stable working and reliable control.