The invention discloses a quadruped obstacle crossing robot in an active and passive composite mode, and belongs to the field of obstacle crossing robots. The robot comprises a robot body, and two groups of composite front legs and two groups of composite rear legs which are respectively and fixedly arranged at the front part and the rear part of the robot body, the two sets of composite front legs are arranged on the left side and the right side of the robot body respectively, are completely identical in structure and each comprise a front foot thigh, a front foot shank composed of an L-shaped folding rod, an obstacle crossing motor, an obstacle crossing driving wheel, an obstacle crossing driven wheel, a forward motor, a forward driving wheel, a combined gear A, a combined gear B, a combined roller A, a combined roller B, a chain A and a chain B; the two sets of composite rear legs are arranged on the left side and the right side of the robot body respectively, are completely the same in structure and each comprise a rear foot thigh, a rear foot shank, a torsion spiral spring, a roller A and a roller B. The four-foot obstacle crossing robot is simple and reasonable in structure,has high obstacle crossing stability, and achieves active obstacle crossing of the front legs and passive obstacle crossing of the rear legs based on thigh and shank switching.
本发明公开了一种主被动复合模式的四足越障机器人,属于越障机器人领域。它包括机器躯体,分别固定装设于机器躯体上的前部、后部的两组复合前腿和两组复合后腿;两组复合前腿分别装设于机器躯体的左右两侧,结构完全相同,均包括前足大腿、由L型折杆组成的前足小腿、越障电机、越障主动轮、越障从动轮、前进电机、前进主动轮、组合齿轮A、组合齿轮B、组合滚轮A、组合滚轮B、链条A和链条B;两组复合后腿分别装设于机器躯体的左右两侧,结构完全相同,均包括后足大腿、后足小腿、扭转螺旋弹簧、滚轮A和滚轮B。本发明是一种结构简单合理、具有高度越障稳定性、基于大小腿切换实现前腿主动越障、后腿被动越障的四足越障机器人。
Quadruped obstacle crossing robot in active and passive composite mode
一种主被动复合模式的四足越障机器人
2020-11-17
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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