The invention discloses a double-foot four-degree-of-freedom grid crawling robot, and belongs to the technical field of crawling robots. The robot comprises a robot main body, a control system arranged on the robot main body, two composite mechanical legs which are rotationally arranged at the bottom of the robot main body and are completely the same in structure, an arc-shaped clutch sliding groove formed in the bottom face of the robot main body, a clutch sliding block arranged in the clutch sliding groove in a sliding mode, and a reel B rotationally arranged on the robot main body. One end of the clutch pulling rope A is connected with the left side of the clutch sliding block, and the other end of the clutch pulling rope A is wound on the reel B; one end of the clutch pulling rope B is connected with the right side of the clutch sliding block, and the other end of the clutch pulling rope B is wound on the reel B; the gear clutch motor drives the reel B to rotate; and the thigh steering motor drives the clutch driving wheel to rotate. The double-foot four-degree-of-freedom grid crawling robot is reasonable in structure, rapid in crawling and high in stability.

    本发明公开了一种双足四自由度网格爬行机器人,属于爬行机器人技术领域。它包括机器人主体和装设于机器人主体上的控制系统,转动装设于机器人主体底部的两条结构完全相同的复合机械腿,开设于机器人主体底面上呈弧形的离合滑槽,滑动装设在离合滑槽中的离合滑块,转动装设在机器人主体上的绕线轮B,一端与离合滑块左侧相连、另一端缠绕在绕线轮B上的离合牵引绳A,一端与离合滑块右侧相连、另一端缠绕在绕线轮B上的离合牵引绳B,驱动绕线轮B转动的齿轮离合电机,转动装设在离合滑块上的离合主动轮,以及驱动离合主动轮转动的大腿转向电机。本发明是一种结构合理、具有快速爬行和高稳定性的双足四自由度网格爬行机器人。


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    Title :

    Double-foot four-degree-of-freedom grid crawling robot


    Additional title:

    一种双足四自由度网格爬行机器人


    Contributors:
    BAN SHUHAO (author) / XU RAN (author) / HE YUNSONG (author) / JIANG XUEDONG (author)

    Publication date :

    2023-04-21


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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