The invention discloses a multi-legged robot, which comprises a body, a plurality of leg assemblies and a control unit, wherein the leg assembly comprises a first steering engine, a second steering engine, a third steering engine, a crankshaft connecting rod mechanism and a shank support. The first steering engine comprises a first motor and a first speed reducer which are assembled and connected;the second steering engine comprises a second motor and a second speed reducer which are assembled and connected; the third steering engine comprises a third motor and a lead screw mechanism which are connected in an assembled mode; the first motor, the second motor and the third motor each comprise a motor shell and a motor output shaft, a Hall array coding chip is fixedly arranged in the centerof the rear end of each motor shell, and a Hall magnet is fixedly arranged at the rear end of each motor output shaft; the second motor is arranged at the output end of the first speed reducer; the third motor is arranged at the output end of the second speed reducer; and the driving end of the lead screw mechanism is connected with the shank support through a crankshaft connecting rod mechanism.The joint output position is accurate, and the structure is compact.
一种多足机器人,包括躯体、多个腿部总成、控制单元,所述腿部总成包括第一舵机、第二舵机、第三舵机、曲轴连杆机构、小腿支架,所述第一舵机包括装配连接的第一电机和第一减速机,所述第二舵机包括装配连接的第二电机和第二减速机,所述第三舵机包括装配连接的第三电机和丝杆机构,所述第一电机、第二电机、第三电机均包括电机壳体,电机输出轴,所述电机壳体的后端中心固设有霍尔阵列编码芯片,所述电机输出轴的后端固设有霍尔磁铁;所述第二电机设于第一减速机的输出端,所述第三电机设于第二减速机的输出端,所述丝杆机构的驱动端通过曲轴连杆机构与小腿支架连接。本发明关节输出位置精确、结构紧凑。
Multi-legged robot
多足机器人
2020-09-11
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |