The invention relates to the technical field of crawling robots, and particularly to a rope-driven under-actuated climbing robot driven by a single motor. A front wheel assembly is arranged at the front end of a chassis. Auxiliary wheels are arranged at the rear end of the chassis, side limb sections are arranged on two sides of the chassis, a single-motor driving mechanism is arranged on the chassis, the single-motor driving mechanism is provided with an output shaft, the front end of the output shaft is connected with a worm through a front wheel clutch, a worm wheel is arranged on the frontwheel assembly, the worm is meshed with the worm wheel, the rear end of the output shaft is connected with a side limb section driving shaft through a holding clutch, the side limb sections are respectively driven by steel wires, the steel wires are wound on the side limb section driving shafts, a front wheel clutch spring is arranged in the front wheel clutch and connected with the output shaftand the worm, a holding clutch spring is arranged in the holding clutch and connected with the output shaft and the side limb section driving shafts, and the rotating directions of the front wheel clutch spring and the holding clutch spring are opposite. The single motor is used for driving the robot to walk and hold, the structure is greatly simplified, and the self-adaptive capacity is high.

    本发明涉及爬行机器人技术领域,具体地说是一种单电机驱动的绳驱式欠驱动攀爬机器人,其中前轮组件设于底盘前端,底盘后端设有辅助轮,侧肢节分设于底盘两侧,单电机驱动机构设于底盘上,且单电机驱动机构设有输出轴,所述输出轴前端通过前轮离合器与蜗杆相连,在前轮组件上设有蜗轮,且蜗杆与所述蜗轮啮合,输出轴后端通过抱持离合器与侧肢节驱动轴相连,侧肢节分别通过钢丝驱动,且所述钢丝缠绕于侧肢节驱动轴上,前轮离合器内设有前轮离合弹簧连接输出轴和蜗杆,抱持离合器内设有抱持离合弹簧连接输出轴和侧肢节驱动轴,所述前轮离合弹簧和抱持离合弹簧旋向相反。本发明利用单电机驱动机器人行走和抱持,结构大大简化且自适应能力强。


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    Titel :

    Rope-driven under-actuated climbing robot driven by single motor


    Weitere Titelangaben:

    一种单电机驱动的绳驱式欠驱动攀爬机器人


    Beteiligte:
    LIU YUWANG (Autor:in) / WANG YUANXING (Autor:in) / GE ZHUANG (Autor:in) / CAO YONGZHAN (Autor:in) / LIU JINGUO (Autor:in)

    Erscheinungsdatum :

    2020-07-07


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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