Multifunctional obstacle-crossing robot system

Abstract

The invention discloses a multifunctional obstacle-crossing robot system. The multifunctional obstacle-crossing robot system comprises a bottom plate, four climbing legs separately connected to the four corners of the bottom plate and supporting legs separately connected to the middle parts of the four edges of the bottom plate. The climbing legs composed of pneumatic rotary actuators, connectingpieces, worm wheels, worms, tracks and rotating wheels can realize normal movement, and can realize obstacle-crossing and complete other tasks when combined with the supporting legs composed of linearcylinders and the connecting pieces. The multifunctional obstacle-crossing robot system is driven by combining the linear cylinders, the pneumatic rotary actuators and the worm wheels and the worms,has the characteristics of compact structure, multiple functions and multiple degrees of freedom and large output force, and can be used for obstacle crossing, fire extinguishing, explosive removal and other tasks.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a multifunctional obstacle-surpassing robot system. Background technique [0002] In the face of complex terrain, the ability to overcome obstacles is one of the necessary capabilities for robots. The height of various obstacles such as stairs, fences, and steps is a severe test for the robot to overcome obstacles. Tracks have the advantage of adapting to various terrains. Because they are widely used in robots, Chinese patents 201510564857.0, 201621087423.2, 201621206018.8, and 201710858066.8 have successively proposed crawler-type obstacle-surmounting robots, but the height of obstacle-crossing is limited by the height of the track wheels. Chinese patents 201510084953.5 and 201610888246.6 respectively design front and rear crawler robots, but only have one manipulator, which can only achieve horizontal obstacle surmounting, and the obstacle surmounting height is affected by the l...

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Problems solved by technology

Tracks have the advantage of adapting to various terrains, because they are widely used in robots. Chinese patents 201510564857.0, 201621087423.2, 201621206018.8, and 201710858066.8 have successively proposed crawler-type obstacle-surmounting robots, but the height of obstacle-crossing is limited by the height of the track wheels.

Chinese patents 201510084953.5 and 201610888246.6 respectively design front and rear crawler robots, but only have one manipulator, which can only achieve horizontal obstacle surmounting, and the obstacle surmounting height is affected by the length of the crawler

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