Deformable and reconfigurable spherical rescue robot

Abstract

The invention provides a deformable and reconfigurable spherical rescue robot. The deformable and reconfigurable spherical rescue robot mainly comprises a sphere and wheel interconversion mechanism, a butt joint and reconfiguration mechanism and a gravity center adjustment mechanism. Through a deformation mechanism and the butt joint and reconfiguration mechanism, interconversion of a sphere form, a double-wheel form and a multiple-wheel form can be realized, and the robot can move flexibly in each form; in the sphere form, electronic components of the robot are all packaged inside a spherical shell, the self protection ability is good, and erosion of dust and harmful gas can be effectively prevented on a rescue site; and two robots in the double-wheel form can be reconfigured to form a robot of the multiple-wheel form in a butt joint mode, and therefore the driving force and the stability of the robot can be improved, the obstacle crossing ability of the spherical robot on the rescue site can be improved, and the ability of the spherical robot to adapt different terrains can be improved.

Description

technical field [0001] The invention relates to the field of special robots, in particular to a deformable and reconfigurable rescue robot. Background technique [0002] At present, the timely and effective post-disaster rescue capability has been paid more and more attention by countries all over the world, and more and more people are paying attention to it. Leakage of nuclear materials, chemical radiation and ecological pollution caused by urban bombing terrorist incidents will cause social panic and even endanger human health. Natural disasters such as earthquakes, fires and floods can also cause property damage and casualties. When a sudden disaster occurs, it is necessary to locate the hazard source and rescue the injured and important materials. In order to minimize the loss after the disaster, such effective rescue operations are urgent. However, the post-disaster environment is very complex, with hidden unknown risk factors such as smoke, poisonous gas, collapse a...

AI Technical Summary

Problems solved by technology

Among them, crawler robots are the most widely used, with the characteristics of strong obstacle surmounting ability and low pressure on the ground, but the moving speed is slow and the movement efficiency is not high.

Wheeled rescue robots have the characteristics of high movement efficiency, fast movement speed and simple structure, but their ability to overcome obstacles is weak

The legged rescue robot has the characteristics of strong obstacle-surmounting ability, but the mechanical structure design and control are complicated, and the reliability and stability are low.

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