The invention provides a tensioning integral type driving robot, and belongs to the technical field of robots. Comprising a carrying module, the carrying module is provided with at least one pair of tensioning structures, each tensioning structure is connected with a foot part, each pair of tensioning structures has a common hinge point on the carrying module, each tensioning structure comprises a pressed part and a tensioned part, and the pressed parts comprise a first pressed part and a second pressed part which intersect to form an X shape; two ends of the first pressed part are respectively a first hinge point and a fourth hinge point, and two ends of the second pressed part are respectively a second hinge point and a third hinge point; tension pieces are connected between the first hinge point and the third hinge point, between the third hinge point and the fourth hinge point and between the fourth hinge point and the second hinge point. The friction forces borne by the feet in different directions are different during advancing; by controlling the distance between the feet, forward and backward different-direction friction force formed by the feet and the ground is utilized for advancing, various gaits can be achieved, the structure is simple, the weight is light, the impact resistance is good, and the material utilization rate is high.
本发明提供一种张拉整体式驱动机器人,属于机器人技术领域;包括搭载模块,搭载模块至少安装一对张拉结构,每个张拉结构与足部连接,每对张拉结构在搭载模块上具有一个共同铰接点,张拉结构包括受压件和受拉件,受压件包括相交呈X形的第一受压件和第二受压件,第一受压件两端分别为第一铰接点和第四铰接点,第二受压件两端分别为第二铰接点和第三铰接点;第一铰接点和第三铰接点间、第三铰接点和第四铰接点间和第四铰接点和第二铰接点间均连接有受拉件;行进时足部在不同方向上所受的摩擦力大小不同;本发明通过控制足部间的距离,利用足部与地面形成的前后异向摩擦力前进,且能实现多种步态,结构简单、质量轻、抗冲击性能好以及材料利用率高。
Tensioning integral type driving robot
一种张拉整体式驱动机器人
2023-11-24
Patent
Elektronische Ressource
Chinesisch