The invention relates to the field of intelligent foot type inspection robots, and particularly discloses an intelligent foot type inspection robot and a gait control method thereof. The intelligent foot type inspection robot comprises a front body rack, a six-degree-of-freedom parallel trunk structure and a rear body rack which are connected in sequence, and four mechanical legs which are located on the left front portion, the right front portion, the left rear portion and the right rear portion and are of the same structure, the six-degree-of-freedom parallel trunk structure comprises a front platform supporting plate connected with the front body rack, six parallel electric cylinder telescopic structures and a rear platform supporting plate connected with the rear body rack, and any electric cylinder telescopic structure is connected to the front platform supporting plate and the rear platform supporting plate through universal joints. The technical problem to be solved by the invention is to overcome the defects and deficiencies in the aspects of movement flexibility, gait conversion and the like of the intelligent foot type inspection robot in the prior art.
本发明涉及智能足式巡检机器人领域,具体公开了一种智能足式巡检机器人及其步态控制方法。该智能足式巡检机器人包括依次连接的前体机架、六自由度并联躯干结构、后体机架,以及分别位于左前、右前、左后、右后共计四条结构相同的机械腿,所述六自由度并联躯干结构包括连接所述前体机架的前平台支撑板、六根并行的电缸伸缩结构、连接所述后体机架的后平台支撑板,其中,任一所述电缸伸缩结构通过万向节连接至所述前平台支撑板和所述后平台支撑板。本发明所要解决的技术问题在于,克服现有技术在智能足式巡检机器人的运动灵活性和步态转换等方面的缺陷和不足。
Intelligent foot type inspection robot and gait control method thereof
一种智能足式巡检机器人及其步态控制方法
2023-10-10
Patent
Electronic Resource
Chinese
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