The invention discloses a walking mechanism of a crawling robot. The walking mechanism is characterized by comprising a moving frame, a plurality of outer legs and a plurality of inner legs, wherein the moving frame is rectangular; the outer legs are symmetrically mounted on two symmetrical lateral sides of the moving frame, and the inner legs are symmetrically mounted on the other two symmetrical lateral sides of the moving frame; each outer leg comprises an outer-leg frame and a telescopic leg arranged in the outer-leg frame; each inner leg comprises an inner-leg frame and a telescopic leg arranged in the inner-leg frame; suction cups are mounted at the bottoms of the outer legs and the inner legs; the telescopic legs of the outer legs are connected with the moving frame, and the moving frame ascends and descends with the telescopic legs of the outer legs; the inner-leg frames are rigidly connected with the moving frame, and the inner-leg frames ascend and descend with the moving frame; the outer-leg frames are mounted on the moving frame through guide rails; transverse feed motors are mounted on the moving frame, and the transverse feed motors drive transverse feed screws; the inner legs and the outer legs are both provided with longitudinal feed motors, and the longitudinal feed motors drive longitudinal feed screws.
Walking mechanism and walking method of crawling robot
2015-08-05
Patent
Electronic Resource
English
Walking robot, method for controlling walking robot, and walking robot system
European Patent Office | 2023
|Mobile robot capable of walking on ground and crawling on flexible surface
European Patent Office | 2015
|