The embodiment of the invention discloses an amphibious robot leg swing mechanism which comprises a sliding rail, a horizontal support, a horizontal steering engine and a gear set, and the inner side of the sliding rail is provided with guide rail inner teeth; the sliding rail is fixedly connected to the lower portion of the amphibious robot body. One end of the horizontal support is rotationally connected to the position, close to the center axis of the robot, below the amphibious robot body, the other end of the horizontal support is slidably connected to the sliding rail, and the tail end of the other end of the horizontal support is fixedly connected with robot legs; the horizontal steering engine is fixedly connected with the horizontal support, and the output of the horizontal steering engine acts on the gear set. And the gear set is meshed with the inner teeth of the guide rail. The gear sliding rail type swing mechanism is adopted, the swing output stability of the legs of the robot can be improved in a gear meshing transmission mode, the steering engine is prevented from being damaged, and therefore the crawling capacity of the amphibious robot in the near-beach environment can be greatly improved.

    本发明实施例公开了一种两栖机器人腿摆动机构,所述摆动机构包括:滑轨、水平支架、水平舵机、齿轮组,所述滑轨内侧带有导轨内齿;所述滑轨固定连接于两栖机器人主体下方;所述水平支架一端转动连接于两栖机器人主体下方近机器人的中心轴位置,另一端滑动连接于所述滑轨上,且其另一端的末端与机器人腿部固定连接;所述水平舵机与所述水平支架固定连接,且其输出作用于所述齿轮组;所述齿轮组与所述导轨内齿啮合。本发明采用齿轮滑轨式摆动机构,通过齿轮啮合的传动方式,可提高机器人腿摆动输出的稳定性,并避免舵机损坏,由此可大大提高两栖机器人在近滩环境的爬行能力。


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    Title :

    Amphibious robot leg swinging mechanism


    Additional title:

    一种两栖机器人腿摆动机构


    Contributors:
    LIU CHANG (author) / XIAO YUJIE (author) / HWANG JONG-WOOK (author) / GE TINGXUAN (author) / WANG ZHEN (author) / XING HUIMING (author)

    Publication date :

    2023-06-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60F VEHICLES FOR USE BOTH ON RAIL AND ON ROAD , Fahrzeuge für den Verkehr sowohl auf Schienen als auch auf Straßen / B62D MOTOR VEHICLES , Motorfahrzeuge



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