The adjustable advancing mechanism for the multi-legged crawling robot comprises a leg mechanism and a driving mechanism, and the leg mechanism comprises a rack, an upper rocker, a middle rocker, a lower rocker, a supporting rocker, a foot mechanism and a length adjusting rod. The driving mechanism comprises a stepping motor, a driving crank, a driven crank and a motor connecting rod, the rotating shaft end of the stepping motor is connected with the end of the driving crank, the other end of the driving crank is rotationally connected with the end of the motor connecting rod, and a connecting shaft penetrates through the other end of the motor connecting rod; the connecting shaft sequentially penetrates through the motor connecting rod, the middle rocker and the end of the driven crank, and the other end of the driven crank is rotationally connected with the rack. When the stepping motor works, the motor connecting rod is driven to move through the driving crank, when the motor connecting rod moves, the middle rocker is driven to move under the action of the driven crank, and then the foot mechanism is driven to move through the supporting rocker and the length adjusting rod.

    本发明公开了面向多足爬行机器人的可调式行进机构,包括腿部机构和驱动机构,腿部机构包括机架、上摇杆、中摇杆、下摇杆、支撑摇杆、足部机构和长度调节杆。驱动机构包括步进电机、驱动曲柄、从动曲柄和电机连接杆,步进电机的转轴端与驱动曲柄的端部相连,驱动曲柄的另一端与电机连接杆的端部转动连接,电机连接杆的另一端穿设有连接轴,连接轴依次穿过电机连接杆、中摇杆和从动曲柄的端部,从动曲柄的另一端与机架转动连接。步进电机工作时通过驱动曲柄带动电机连接杆运动,电机连接杆运动时,在从动曲柄的作用下带动中摇杆运动,进而通过支撑摇杆和长度调节杆带动足部机构运动。


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    Titel :

    Adjustable advancing mechanism for multi-legged crawling robot


    Weitere Titelangaben:

    面向多足爬行机器人的可调式行进机构


    Beteiligte:
    WANG ZHENWEI (Autor:in) / ZHANG CHENYU (Autor:in) / XIA GUODI (Autor:in)

    Erscheinungsdatum :

    2023-12-19


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B64G Raumfahrt , COSMONAUTICS



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