The invention belongs to the technical field of bionic robots, and particularly discloses a lizard imitating robot suitable for soft sand, which comprises feet, legs, a spine, a head and a tail, the tail end of the spine is connected with a tail part, the surface of the spine is symmetrically connected with leg parts, and the end parts of the leg parts are connected with foot parts; the foot part comprises toes, a sole, a foot part shell and ankle joints; the ankle joint is connected with the leg part, the end part of the ankle joint is connected with the foot shell, the toes are uniformly arranged on the surface of the foot shell, and the sole is arranged at the bottom end of the foot shell; a gear driving mechanism of a gear rack is adopted at the foot to drive the toe and the claw thorn to move, compared with traditional spring or rope driving, active control can be achieved in the grabbing and releasing process, the capacity loss in the grabbing process is greatly reduced, the grabbing torque is large, the transmission efficiency is high, and in addition, the grabbing effect is good. And the service life of the robot can be prolonged by adopting the gear driving mechanism.

    本发明属于仿生机器人技术领域,具体公开了一种适应松软沙地的仿蜥蜴机器人,包括足部、腿部、脊柱、头部和尾部;所述脊柱末端连接有尾部,脊柱表面对称连接有腿部,所述腿部端部连接有足部;所述足部包括足趾、足底、足部外壳和踝关节;所述踝关节与腿部连接,踝关节端部连接有足部外壳,所述足部外壳表面均匀设置有足趾,足部外壳底端设置有足底;本发明在足部采用齿轮齿条的齿轮驱动机构驱动足趾和爪刺运动,与传统的弹簧或绳索驱动相比,该种方式在抓取和释放时均可主动控制,极大减小了抓取过程中能力的损耗,抓取力矩较大且传递效率较高,再者,采用齿轮驱动机构能够延长该机器人的使用寿命。


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    Title :

    Lizard-imitating robot adapting to soft sand


    Additional title:

    一种适应松软沙地的仿蜥蜴机器人


    Contributors:
    CHEN GUANGMING (author) / QIAO LONG (author) / ZHOU ZHENWEN (author) / LEI XIANG (author) / ZHANG RUI (author)

    Publication date :

    2024-06-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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