The invention provides an auxiliary crossing mechanism of a quadruped robot. The auxiliary crossing mechanism comprises a base, a trunk and rotor wings, two arc-shaped sliding rails are symmetrically arranged on the base, and each sliding rail is provided with a positioning groove. The main body comprises a rotating motor and a rotating shaft, positioning pins are arranged at the bottoms of the two sides of the main body respectively, electromagnets are arranged above the positioning pins, and the lower portions of the positioning pins are located in the corresponding sliding rails; the rotating motor is used for driving the rotating shaft, so that the trunk rotates above the base by taking the center as an axis; when the positioning pin rotates to the position of the positioning groove, the positioning pin falls down and is locked in the positioning groove; the electromagnet is used for taking out the positioning pin from the positioning groove; the rotor wings are used for generating upward lift force; the main mechanical structure provided by the invention is simple and convenient, and can rotate on the base in a limited manner, so that mode switching is realized, and the technical difficulty is low; moreover, under the spanning or flying mode, due to the effect of the positioning and locking device, the reliability of the mechanism is high.

    本发明提出了一种四足机器人辅助跨越机构,包括:底座,主干,旋翼;底座上对称设置两个弧形滑轨,每个滑轨上各有一个定位槽;主干包括旋转电机,旋转轴,主干两侧底部分别设置定位销,定位销上方设置有电磁铁,定位销的下方位于对应的所述滑轨内;旋转电机用于驱动所述旋转轴,使得主干在底座上方以中心为轴进行转动;以使得定位销旋转至定位槽的位置时下落并锁紧于定位槽内;电磁铁用于将定位销从定位槽中取出;旋翼用于产生向上的升力;本发明提供主干机械结构简便,并可以在底座上有限度转动,实现模式切换,技术难度较小;并且,在跨越或飞行模式下,因定位锁紧装置作用,使得本机构的可靠性较高。


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    Title :

    Quadruped robot auxiliary crossing mechanism and quadruped robot


    Additional title:

    一种四足机器人辅助跨越机构以及四足机器人


    Contributors:
    XU XIAOYANG (author) / DONG QI (author) / ZHUANG YUAN (author) / JIA YUANJUN (author)

    Publication date :

    2024-01-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64U / B25J Manipulatoren , MANIPULATORS / B60F VEHICLES FOR USE BOTH ON RAIL AND ON ROAD , Fahrzeuge für den Verkehr sowohl auf Schienen als auch auf Straßen / B62D MOTOR VEHICLES , Motorfahrzeuge



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