The invention discloses a rope-driven flexible crawling machine device which comprises a machine body, a root flexible leg joint, a plurality of middle flexible leg joints and end flexible leg joints. The end flexible leg joints and the middle flexible leg joints are connected through universal joints, every two adjacent middle flexible leg joints are connected through universal joints, and the middle flexible leg joints and the root flexible leg joints are connected through universal joints. A driving structure is arranged in the robot body, a rotating disc is connected to the driving structure, a rope is wound on the rotating disc, and the free end of the rope sequentially penetrates through the robot body, the root flexible leg joint and the middle flexible leg joint and is fixed to the end flexible leg joint. The reset springs are connected between the adjacent joints of the legs, reset of the mechanical arm can be achieved through the reset springs, the overall strength of the mechanical arm is enhanced, and the stability of posture adjustment of the crawling robot is guaranteed.
本发明公开了一种绳索驱动柔性爬行机器装置,包括机身、根部柔性腿关节、若干个中部柔性腿关节和端部柔性腿关节,端部柔性腿关节与中部柔性腿关节之间、相邻两中部柔性腿关节之间、中部柔性腿关节与根部柔性腿关节之间均通过万向节连接;机身的内部设置有驱动结构,驱动结构上连接有转盘,转盘上缠绕有绳索,绳索的自由端依次穿过机身、根部柔性腿关节和中部柔性腿关节并固定在端部柔性腿关节上。本发明在腿部相邻关节之间连接有复位弹簧,能够利用复位弹簧实现机械臂的复位,并增强机械臂的整体强度,保证对爬行机器人的姿态调整的稳定性。
Rope-driven flexible crawling machine device
一种绳索驱动柔性爬行机器装置
2022-09-13
Patent
Electronic Resource
Chinese
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