The invention discloses a foot-type robot capable of stably operating in an amphibious environment. The robot comprises a sealed body; a motor is installed in the body; an output shaft of the motor extends out of the side wall of the body in a dynamic sealing mode; the output shaft of the motor is fixedly connected with one end of a crank through a bevel gear box; the other end of the crank is hinged to a sliding block; the sliding block is installed in a sliding groove of a guide rod; the upper end of the guide rod is installed on the body through a bearing; and the rotating plane of the crank and the reciprocating swing plane of the guide rod are spatially perpendicular to the side wall face of the body; one end of a first connecting rod is hinged to the sliding block; the other end of the first connecting rod is hinged to the root of a leg component; one end of a second connecting rod and one end of a third connecting rod are connected with the guide rod, and the other ends of the second connecting rod and the third connecting rod are connected with the root of the leg component, and therefore, a double-rocker mechanism can be locally formed. The robot is simple in structure, easy to maintain, high in energy utilization rate, rapid and stable in movement, high in self-locking capacity and bearing capacity and convenient for modular mass production, and has amphibious operation capacity.
本发明公开了一种两栖环境下稳定作业的足式机器人,包括密封的机体,电机安装于机体内,电机的输出轴以动密封形式从机体侧壁伸出,电机的输出轴通过锥齿轮箱与曲柄一端固定连接,曲柄另一端与滑块铰接,滑块安装在导杆的滑槽内,导杆上端通过轴承安装在机体上,曲柄的转动平面、导杆的往复摆动平面均与机体侧壁面在空间上互相垂直;一号连杆一端与滑块铰接,一号连杆另一端与腿部构件的根部铰接,二号连杆、三号连杆的一端分别与导杆连接,二号连杆、三号连杆的另一端均与腿部构件的根部连接,局部形成双摇杆机构。本发明结构简单,易于维护,能源利用率高,运动快速平稳,具备自锁能力,承载能力强,便于模块化量产,具有水陆两栖作业能力。
Foot-type robot capable of stably operating in amphibious environment
两栖环境下稳定作业的足式机器人
11.08.2020
Patent
Elektronische Ressource
Chinesisch
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