The invention belongs to the technical field of robots, and particularly relates to a walking assembly for an irregular curved surface of a narrow runner of a runner, and the walking assembly comprises an outer foot layer, an inner foot layer, an X-axis movement assembly and a Y-axis movement assembly; the X-axis movement assembly is connected with the outer foot layer and the Y-axis movement assembly, the Y-axis movement assembly is connected with the inner foot layer, and the outer foot layer and the inner foot layer of the robot are controlled to alternately move through movement cooperation of the X-axis movement assembly and the Y-axis movement assembly to achieve peristaltic walking. Through alternate adsorption and movement (cooperative control of the X-axis movement assembly and the Y-axis movement assembly) of the outer foot layer and the inner foot layer, peristaltic walking of the robot in a narrow flow channel is achieved; the outer adsorption element and the inner adsorption element both adopt the combination of a micro air cylinder and an electromagnet, the adsorption force is controlled by adjusting the current, the Z-axis direction displacement is independently adjusted through the micro air cylinder, and the curved surface fitting is ensured.
本发明属于机器人技术领域,具体涉及一种用于转轮狭窄流道非规则曲面的行走组件,所述行走组件包括外足层、内足层、X轴运动组件和Y轴运动组件;X轴运动组件与外足层和Y轴运动组件连接,Y轴运动组件与内足层连接,通过X轴运动组件和Y轴运动组件移动配合控制机器人外足层和内足层的交替运动实现蠕动式行走。本发明通过外足层和内足层的交替吸附与移动(X轴、Y轴运动组件协同控制),实现机器人在狭窄流道内的蠕动式行走;外吸附元件和内吸附元件均采用“微型气缸+电磁铁”组合,通过调节电流控制吸附力大小,并通过微型气缸单独调整Z轴方向位移,确保贴合曲面。
Walking assembly for irregular curved surface of narrow runner of runner
一种用于转轮狭窄流道非规则曲面的行走组件
06.05.2025
Patent
Elektronische Ressource
Chinesisch