The invention discloses a bionic leg structure of a tubular pile wall-climbing robot. The bionic leg structure comprises a first steering engine, a thigh, a second steering engine, a shank, a third steering engine, an ankle, a fourth steering engine and a bionic foot. Each of the thigh, the shank and the ankle is provided with two connecting ends which are a fixed connecting end and a rotary connecting end correspondingly. The bionic foot is provided with two connecting ends, one end of the bionic foot is used for being connected with the steering engines, and the other end of the bionic footis used for being connected with a friction bottom block. According to the bionic leg structure, through the four steering engines, four motion freedom degrees are achieved, the first steering engineenables a leg to swing front and back, and front-back motion of the robot is achieved; the second steering engine and the third steering engine can change the stretching-contracting angle of the leg,and therefore, the overall occupied space of the robot is controlled; and the fourth steering engine directly controls the angle of the bottom of the bionic foot relative to the inner wall of a tubular pile, the function that the bionic leg rotates in the space by four freedom degrees can be achieved, and the tubular pile wall-climbing robot can move in a manner similar to the manner that an animal swings the legs.

    本发明公开了一种管桩爬壁机器人的仿生腿结构,包括1号舵机、股节、2号舵机、胫节、3号舵机、踝节、4号舵机和仿生足,股节、胫节和踝节都具有两个连接端,分别为固定连接端和转动连接端,仿生足具有两个连接端,一端用于连接舵机,另一端用于连接摩擦底块;本发明的仿生腿结构,通过4个舵机,具有4个运动自由度,1号舵机使腿能够前后摆动,实现机器人的前后运动;2号舵机、3号舵机可以改变腿部的伸展‑收缩角度,从而控制机器人整体的占用空间;4号舵机直接控制仿生足底部相对管桩内壁的角度,能够满足仿生腿在空间内进行4个自由度转动的功能,使管桩爬壁机器人能类似动物用摆动腿部的方式运动。


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    Title :

    Bionic leg structure of tubular pile wall-climbing robot


    Additional title:

    一种管桩爬壁机器人的仿生腿结构


    Contributors:
    ZHAO RUNZE (author) / ZHU JIN (author) / LYU HUI (author) / ZHANG YINGNAN (author)

    Publication date :

    2021-02-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    F16L PIPES , Rohre / B62D MOTOR VEHICLES , Motorfahrzeuge



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