The invention relates to the field of bionic robots, and particularly discloses a crawling bionic robot which comprises a ridge plate with a guide groove and a long groove, a connecting base, an annular shell connected with the connecting base, a trunk driving part, a connecting rod assembly, a tail shell connected with the ridge plate, a neck shell capable of swinging and a head shell. The invention further discloses a walking control method of the crawling bionic robot. According to the crawling bionic robot, the ridge plate with the guide groove is arranged, the connecting base and the tail shell are installed on the ridge plate, the annular shell, the neck shell and the head shell are installed on the connecting base, the trunk driving part and the connecting rod assembly drive the tail shell and the annular shell to conduct step-by-step telescopic movement, and therefore the crawling action is achieved; the shells can swing in the vertical direction during movement through the profiling parts on the guide grooves, and the neck shell and the head shell synchronously twist to simulate the tiny crawling actions of insects, so that the device is more vivid, and the device is simple in structure, light, convenient and flexible.
本发明涉及仿生机器人领域,具体公开了一种蠕行仿生机器人,包括:带有导槽和长槽的脊板,连接座以及与其相互连接的环壳,躯干驱动部,连杆组件,与脊板连接的尾壳,以及能够摆动的颈壳和头壳,还公开了一种蠕行仿生机器人行走控制方法。本发明中的蠕行仿生机器人通过设置有带有导槽的脊板,在脊板上安装有连接座和尾壳,在连接座上安装环壳以及颈壳和头壳,通过躯干驱动部以及连杆组件驱动尾壳和环壳产生逐级伸缩移动,从而实现蠕行动作,并且通过导槽上的仿形部能够实现各壳体在移动时在垂直方向上的摆动,以及通过颈壳和头壳的同步扭动模仿虫类蠕行的细微动作,使其更加逼真,并且结构简单,轻便灵活。
Creeping bionic robot and walking control method thereof
蠕行仿生机器人及其行走控制方法
2023-12-29
Patent
Electronic Resource
Chinese
Spring wheel-leg creeping device of bionic amphibious robot
European Patent Office | 2015
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