The invention provides a lizard imitating robot adapted to multi-environment crawling, which comprises trunk assemblies, leg assemblies, claw assemblies, a spine assembly and a tail assembly, the leg assemblies are symmetrically arranged below the trunk assemblies, the claw assemblies are arranged below the leg assemblies, the trunk assemblies are arranged at the two ends of the spine assembly, and the tail assembly is arranged below the spine assembly. The tail assembly is arranged on one side of the trunk assembly. Through mutual cooperation of all the assemblies, narrow matrix crawling and multi-environment crawling of a vertical or horizontal wall face are achieved, through gear transmission of the claw assembly, horizontal or bending of a gripper and rotation in the direction of a suction cup are achieved, mutual switching between a narrow matrix crawling claw part and a vertical wall face crawling claw part is achieved, and multi-environment crawling of the narrow matrix crawling claw part and the vertical wall face crawling claw part is achieved. Through swinging of the spine assembly and the tail assembly, the balance performance of the robot during crawling on a narrow matrix is enhanced, meanwhile, displacement in the vertical direction can be achieved through the spine assembly, and the walking capacity of the robot on an uneven surface is enhanced.
本发明提供一种适应于多环境爬行仿蜥蜴机器人,其包括躯干组件、腿部组件、爪部组件、脊柱组件和尾部组件,腿部组件对称设置在躯干组件下方,爪部组件设置在腿部组件下方位置,脊柱组件的两端均设置躯干组件,尾部组件设置在躯干组件的一侧。本发明通过各组件的相互配合,实现狭窄基质爬行以及垂直或水平壁面的适应于多环境爬行,通过爪部组件的齿轮传动,实现抓手的水平或弯曲以及吸盘方向的转动,实现狭窄基质爬行爪部和垂直壁面爬行爪部之间的相互切换,通过脊柱组件与尾部组件的摆动,增强机器人在狭窄基质上爬行时的平衡性能,同时脊柱组件还可以实现垂直方向上的位移,增强机器人在不平整表面上的行走能力。
Lizard-like robot suitable for crawling in multiple environments
适应于多环境爬行仿蜥蜴机器人
2023-12-26
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Robot suspension structure suitable for curved surface crawling
Europäisches Patentamt | 2020
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