The invention discloses a gecko-imitating robot with a bionic spine, and belongs to the technical field of climbing robots. The gecko-imitating robot comprises a shoulder belt joint module, a pelvic belt joint module, a bionic spine, a limb module, a mixed attachment mechanism and a driving control module, the bionic spine comprises a rigid linear guide rail mechanism and a flexible spine joint mechanism, and the linear guide rail mechanism comprises a guide rail and a sliding block slidably mounted on the guide rail; the front end of the linear guide rail mechanism is mounted in the middle of the shoulder strap frame, and the rear end is mounted in the middle of the pelvis strap frame; the spine joint mechanism comprises N spine joint steering engines and N-1 joint connecting rods, N is an integer larger than 2, and each joint connecting rod is connected between every two adjacent spine joint steering engines. The bionic spine takes a big gecko spine as a bionic prototype, and can imitate the bent shape of the gecko spine in the crawling process, so that the robot can crawl in a bent manner, the robot can imitate the movement of the gecko spine, and the movement flexibility of the robot is improved.

    本发明公开了一种具有仿生脊柱的仿壁虎机器人,属于攀爬机器人技术领域。仿壁虎机器人包括肩带关节模块、骨盆带关节模块、仿生脊柱、肢体模块、混合附着机构及驱动控制模块,仿生脊柱包括刚性的直线导轨机构和柔性的脊椎关节机构,直线导轨机构包括导轨和滑动安装在导轨上的滑块,直线导轨机构的前端安装在肩带架的中部、后端安装在骨盆带架的中部;所述脊椎关节机构包括N个脊椎关节舵机和N‑1个关节连杆,N为大于2的整数,每个关节连杆分别连接在相邻的两个脊椎关节舵机之间。仿生脊柱以大壁虎脊柱为仿生原型,爬行过程中可以模仿壁虎脊椎弯曲形状,使得机器人弯曲爬行,使得机器人可以模仿壁虎脊柱运动,增加机器人的运动灵活性。


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    Titel :

    Gecko-imitating robot with bionic spine


    Weitere Titelangaben:

    一种具有仿生脊柱的仿壁虎机器人


    Beteiligte:
    JI AIHONG (Autor:in) / WANG WEI (Autor:in) / HAN QINGFEI (Autor:in) / NING FANGLIANG (Autor:in) / ZHAO WEILIANG (Autor:in)

    Erscheinungsdatum :

    2023-03-07


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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