The invention discloses a rope-driven bionic hexapod wall-climbing robot. The robot comprises a body and six leg structures connected with the body. The body comprises a trunk and a transmission system, and the transmission system comprises a driving steering engine, a bevel gear set, a transmission plate and a straight gear set; each leg structure comprises a joint set, a transmission rod and a closing force transmission system. The closing force transmission system comprises a leg driving steering engine, a fixed pulley set, a leg straight gear set, a tensioning device, a rope tail end fixing hole and two ropes. The hexapod wall-climbing robot is driven by the steering engine and controlled by the transmission system and the closing force transmission system to achieve triangular alternate movement gait, has the advantages of being small in size, light in weight and easy to control, overcomes the defects that a small hexapod robot is large in weight and size and provided with multiple drivers, and greatly improves the practicability and applicability of the hexapod wall-climbing robot.
本发明公开了一种绳索驱动仿生六足爬壁机器人,包括躯体和与躯体相连的六个腿部结构。躯体包括躯干和传动系统,传动系统包括驱动舵机、锥齿轮组、传动板和直齿轮组;腿部结构包括关节组、传动杆和闭合力传递系统,闭合力传递系统包括腿部驱动舵机、定滑轮组、腿部直齿轮组、张紧装置、绳索末端固定孔和两根绳索。本发明通过舵机驱动,通过传动系统和闭合力传递系统控制,以实现机器人三角交替运动步态,具有体积小、质量轻、易控制的特点,解决了小型六足机器人质量大、体积大、多驱动器的缺点,大大改善了六足爬壁机器人的实用性和适用性。
Rope-driven bionic hexapod wall-climbing robot
一种绳索驱动仿生六足爬壁机器人
2020-08-18
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |