The bionic ant detection robot comprises a head, a chest and a tail, the head is connected to the front end of the chest, the tail is connected to the tail end of the chest, six ant feet are arranged on the two sides of the chest, each ant foot comprises a base joint, a leg joint and a shin joint, a first steering engine is installed in each base joint, the leg joints are connected with the side faces of the base joints, and the shin joints are connected with the leg joints. The first steering engine is connected with the leg section, the base section circular rocker arm is connected with the chest, the leg section and the shin section are connected through a pin, the end, close to the base section, of the leg section is provided with a hollow part, and the second steering engine is installed in the hollow part. According to the bionic ant detection robot provided by the invention, each foot is only provided with two steering engines and one rocker arm, the two steering engines and the rocker arm are all located in the chest of the robot, and the gravity of the feet outside the chest is reduced, so that the inertia moment of the feet is small, the flexibility is high, and the horizontal swing of each foot is independently controlled; the flexibility and the obstacle crossing ability are further improved, and stability is kept.

    本发明公开了一种仿生蚂蚁探测机器人,包括头部、胸部及尾部,头部连接在胸部的前端,尾部连接在胸部的末端,胸部的两侧具有蚁足,所述蚁足设置有6个,蚁足包括基节、腿节和胫节,基节的内部安装有舵机一,腿节与基节的侧面连接,且舵机一与腿节连接,基节圆形摇臂与胸部连接,腿节和胫节之间通过销钉连接,腿节靠近基节的一端开设中空,中空内安装有舵机二。本发明提供的一种仿生蚂蚁探测机器人,其每个足部仅设置两个舵机和一个摇臂,两个舵机和摇臂均处于机器人的胸部内,处于胸部以外的足部的重力减小,使得足部的惯性矩小,灵活度高,且每个足部的水平摆动是各自独立控制的,进一步提升灵活度和越障能力,且保持稳定。


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    Title :

    Bionic ant detection robot


    Additional title:

    一种仿生蚂蚁探测机器人


    Contributors:
    ZOU NENG (author) / FANG SHIYU (author) / ZHANG ZHIPENG (author) / MU YUHANG (author) / ZHANG XINGYUE (author) / XU JIANFENG (author) / LI YUNQING (author)

    Publication date :

    2024-08-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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