The hexapod robot based on synchronous belt transmission comprises an upper chassis and a lower chassis, a plurality of mechanical leg mechanisms are installed on the adjacent end faces of the upper chassis and the lower chassis, and each mechanical leg mechanism is composed of a first-stage mechanical leg assembly, a second-stage mechanical leg assembly and a third-stage mechanical leg assembly; the first-stage mechanical leg assembly is installed on the adjacent end faces of the upper chassis and the lower chassis, the second-stage mechanical leg assembly is installed at the output end of the first-stage mechanical leg assembly, and the third-stage mechanical leg assembly is installed at the output end of the second-stage mechanical leg assembly. The three-stage leg driving steering engine is close to the leg heel, so that the rotational inertia of the whole leg is reduced, and the control sensitivity is effectively improved. And meanwhile, when the robot is in a high-position posture, the fording depth can be increased, the three-stage leg driving steering engine is prevented from entering water, the synchronous belt can still transmit power to the joints after the placement position of the three-stage leg driving steering engine is moved, and the transmission effect is not affected while the rotational inertia is reduced.

    本发明公开了一种基于同步带传动的六足机器人,包括上底盘和下底盘,所述上底盘和下底盘相邻端面安装有若干个机械腿机构,所述机械腿机构由一级机械腿组件、二级机械腿组件以及三级机械腿组件组成,所述一级机械腿组件安装在上底盘和下底盘相邻端面上,所述二级机械腿组件安装在一级机械腿组件的输出端上,所述三级机械腿组件安装在二级机械腿组件的输出端上。本发明通过将三级腿驱动舵机靠近腿跟,使整条腿转动惯量降低,有效提升控制灵敏度。同时在机器人采取高位姿态时,能提升涉水深度,避免三级腿驱动舵机进水,三级腿驱动舵机放置位置移动后同步带仍能将动力传输到关节处,降低转动惯量同时不影响传动效果。


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    Title :

    Six-foot robot based on synchronous belt transmission


    Additional title:

    一种基于同步带传动的六足机器人


    Contributors:
    SI HAOLONG (author) / MA TIANBING (author) / GONG HAN (author) / GAO DEQIANG (author) / FAN SHIHAO (author) / WANG XIN (author) / JIANG HANGZE (author)

    Publication date :

    2022-05-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge




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