The invention discloses a double-mechanical-arm five-connecting-rod wheel-foot robot, and belongs to the technical field of robots, the double-mechanical-arm five-connecting-rod wheel-foot robot comprises a robot body, two leg parts symmetrically installed on the two sides of the robot body and two mechanical arms symmetrically installed at the front end of the robot body, the top ends of the thigh front arm and the thigh rear arm of each leg are connected with output shafts of a front hip joint motor and a rear hip joint motor which are installed on one side of the robot body respectively, the top end of the shank front arm is rotationally connected with the bottom end of the thigh front arm, and the top end of the shank rear arm is rotationally connected with the bottom end of the thigh rear arm. A driving wheel and a hub motor for driving the driving wheel to rotate are arranged between the foot ends of the front shank arm and the rear shank arm; and each leg part and the machine body form a closed-chain five-connecting-rod mechanism. The double-mechanical-arm five-connecting-rod wheel-foot robot can keep high load capacity at the same time, and expected work can be completed in different scenes.
本发明公开了一种双机械臂五连杆轮足机器人,属于机器人技术领域,该双机械臂五连杆轮足机器人包括机身、两个对称安装于机身两侧的腿部以及两个对称安装于机身前端的机械臂,其中,每个腿部的大腿前臂和大腿后臂的顶端分别与安装在机身一侧的前髋关节电机与后髋关节电机的输出轴连接,小腿前臂顶端与大腿前臂的底端转动连接,小腿后臂顶端与大腿后臂的底端转动连接,小腿前臂与小腿后臂的足端之间设置有主动轮和驱动主动轮转动的轮毂电机;每个腿部均与机身构成闭链五连杆机构。该双机械臂五连杆轮足机器人同时得以保持高负载能力,可在不同的场景下完成预期的工作。
Double-mechanical-arm five-connecting-rod wheel-foot robot
一种双机械臂五连杆轮足机器人
2024-01-30
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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