A Combined Separate Rotor and Foot Mobile Manipulation Robot

Abstract

The invention discloses a combined and separated type rotor and leg mobile operation robot. The combined and separated type rotor and leg mobile operation robot comprises a multi-rotor flying mechanism, a multi-legged walking operation mechanism and a combined separating mechanism which is used for realizing combination and separation between the multi-rotor flying mechanism and the multi-legged walking operation mechanism. The multi-rotor flying mechanism comprises a four-rotor flying mechanism, a six-rotor flying mechanism, an eight-rotor flying mechanism and so on; and the multi-legged walking operation mechanism comprises a four-legged walking operation mechanism, a six-legged walking operation mechanism, an eight-legged walking operation mechanism and so on. The combining and separating mechanism comprises an upper connecting module and a lower connecting module which are correspondingly mounted at the bottom of the multi-rotor flying mechanism and at the top of the multi-legged walking operation mechanism; through locked coordination between the upper connecting module and the lower connecting module, an air flying function, a supporting surface flying and creeping function,a land climbing and walking function and corresponding operation functions can be realized; and through combination and separation of the rotor mechanisms, multi-mode open-space coordinated operationcan be finished.

Description

technical field [0001] The invention belongs to the fields of robotics, mechanics, aerodynamics and the like, and relates to a class of combined separated rotor and legged mobile operation robots. Background technique [0002] The movement modes of mobile robots can be divided into three types: air flight, land movement, and underwater swimming. [0003] Among the flying robots, the multi-rotor UAV platform has received continuous attention and rapid development in the past 10 years due to its simple structure, strong functionality, and easy implementation. Compared with fixed-wing platforms, multi-rotor UAV platforms can achieve hovering and vertical take-off and landing, which greatly expands its application range. Compared with the helicopter platform, the multi-rotor UAV platform has a simpler structure and better dynamic characteristics. [0004] Among land mobile robots, the multi-legged walking robot does not need a continuous support surface because it is in point ...

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Problems solved by technology

[0006] In view of the respective advantages and disadvantages of the above-mentioned multi-rotor flying robot and multi-legged leg-arm fusion robot, in order to improve the complex environment adaptability of the robot and meet higher functional requirements, the present invention proposes a combined separated rotor and legged mobile operation robot , organically combine multi-rotor flight and multi-legged mobile operation, and make up for the deficiencies of the two

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