The all-terrain multi-section multi-foot amphibious crawling robot comprises a driving foot section, a steering knuckle and a driven foot section which are sequentially connected in series, an output shaft of a driving motor in the driving foot section is connected with a worm, and the other end of the worm is connected with a steel wire flexible shaft; the three same worm gears are uniformly distributed along the circumference of the support and are simultaneously meshed with the worm, one end of each worm gear shaft is fixedly connected with the corresponding worm gear, the other end of each worm gear shaft is fixedly connected with the corresponding end translation foot mechanism, and when the worm gears rotate, the end translation foot mechanism at one end is driven by the worm gear shafts to move; one end of the crankshaft is fixedly connected with the middle translation foot mechanism, the other end of the crankshaft is fixedly connected with the end translation foot mechanism, and when the middle translation foot mechanism moves, the end translation foot mechanism at the other end is driven by the crankshaft to move; the steering knuckle comprises an orthogonal rotating joint composed of at least two sets of steering mechanisms, each steering mechanism comprises a connecting arm, the steering knuckle is connected with the driving foot joint and the driven foot joint through the connecting arms, and the overturning stability problem in the moving process is avoided.
本发明公开了一种全地形多节多足两栖爬行机器人,包括依次串联的驱动足节、转向节和从动足节,驱动足节中驱动电机的输出轴与蜗杆连接,蜗杆的另一端与钢丝软轴连接;三个相同的蜗轮沿支架的圆周均匀分布,同时与蜗杆啮合,蜗轮轴的一端与蜗轮固定连接,另一端与端部平动脚机构固定连接,当蜗轮转动时,通过蜗轮轴带动一端的端部平动脚机构运动;曲柄轴的一端与中部平动脚机构固定连接,另一端与端部平动脚机构固定连接,当中部平动脚机构运动时,通过曲柄轴带动另一端的端部平动脚机构运动;转向节包括至少两组转向机构构成的正交旋转关节,转向机构包括连接臂,通过连接臂使转向节分别与驱动足节和从动足节连接,避免移动中的倾覆稳定性问题。
All-terrain multi-section multi-foot amphibious crawling robot
全地形多节多足两栖爬行机器人
2024-05-10
Patent
Electronic Resource
Chinese
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