The invention discloses a bionic four-foot wall-climbing robot based on a connecting rod mechanism. The bionic four-foot wall-climbing robot comprises a head, a front body, a power supply, a waist part, a rear body, a tail, a right front leg, a left front leg, a right rear leg, a left rear leg, a first steering engine, a second steering engine, a third steering engine, a fourth steering engine, a first foot part, a second foot part, a third foot part and a fourth foot part. A Chebyshev connecting rod is adopted as a leg mechanism, up-down lifting and front-back movement of legs can be completed at the same time under single driving force, the diagonal gait of robot movement can be achieved through 180-degree reverse installation of left front and right front and left rear and right rear side leg prime joints, the whole robot only needs four steering engines, the structure is simple, transmission is ingenious, and the movement is reliable; a bimorph driver is arranged on the foot of the robot, the unique introversion and eversion mechanism of the foot of a gecko can be simulated, and the fragile and fine bristle structure of the sole is protected against damage to a great extent when the bristle structure is detached from a wall.

    本发明公开了一种基于连杆机构的仿生四足爬壁机器人,包括头部、前身、电源、腰部、后身、尾巴、右前腿、左前腿、右后腿、左后腿、第一舵机、第二舵机、第三舵机、第四舵机、第一足部、第二足部、第三足部、第四足部。本发明采用切比雪夫连杆作为腿部机构,可以在单一驱动力下同时完成腿部的上下抬升和前后运动,通过左前与右前,左后与右后侧腿部原动节的180°反装,可以实现机器人运动的对角步态,整台机器人只需要四个舵机,结构精简,传动巧妙,运动可靠;在机器人足部借由一种双晶片驱动器,可以模仿壁虎足部独特的内翻外翻机制,很大程度的保护足底脆弱精细的刚毛结构在与墙体脱附时不被破坏。


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    Title :

    Bionic four-foot wall-climbing robot based on connecting rod mechanism


    Additional title:

    基于连杆机构的仿生四足爬壁机器人


    Contributors:
    WANG SIYUAN (author)

    Publication date :

    2021-05-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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