The invention discloses a four-legged mobile robot capable of passing through a vertical narrow terrain. The four-legged mobile robot comprises a robot body and four overturning leg mechanisms. The four leg overturning mechanisms are the same in structure, are uniformly distributed on the periphery of the machine body and are used for supporting and driving the machine body to move; the overturning leg part is composed of a clutch overturning mechanism, a multidirectional transmission mechanism, a folding leg mechanism and a telescopic foot end mechanism, through combined movement of the clutch overturning mechanism, the multidirectional transmission mechanism, the folding leg mechanism and the telescopic foot end mechanism, the inertia of the leg part of the robot is small, meanwhile, all-round overturning and large-range swinging are achieved, and the robot has a great working space and can adapt to different complex terrains and move in the vertical narrow terrains; the telescopic foot end enables the ground contact area of the foot end of the robot to be variable, the robot has the capacity of passively adapting to the terrain, and the stability of the robot in the moving or static process can be further enhanced. The four-legged mobile robot has the advantages of being good in dynamic characteristic, good in stability and the like, and is beneficial to passing through various complex terrains including vertical narrow terrains.
本发明公开了一种可通过垂直狭窄地形的四足移动机器人,包括机身和四个翻转腿部机构;所述四个翻转腿部机构结构相同,均布在所述机身四周,用于支撑以及驱动所述机身运动;翻转腿部由离合翻转机构、多向传动机构、折叠腿机构和伸缩足端机构组成,前三者组合运动可以使机器人腿部惯量小的同时实现全周翻转以及大范围摆动,具备极大的工作空间,能够适应不同复杂地形以及在垂直狭窄地形内移动,伸缩足端可使机器人足端触地面积可变,且具备被动适应地形能力,能够进一步增强机器人移动或静止过程中的稳定性。本发明的四足移动机器人具有动态特性好、稳定性好等优点,益于通过包含垂直狭窄地形在内的各类复杂地形。
Quadruped mobile robot capable of passing through vertical narrow terrain
一种可通过垂直狭窄地形的四足移动机器人
2024-11-12
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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