The invention relates to a bionic climbing robot which comprises grabbing structures and a telescopic trunk, and the telescopic trunk is arranged between the grabbing structures in a penetrating mode. The grabbing structure comprises a stepping motor box, a wire rod, a nylon rope, a fixed main connecting rod, two rotating pair connecting rods, fixed short arms, a rotating long arm and a grabbing claw, the fixed short arms are installed at the two ends of the fixed main connecting rod respectively, the other ends of the fixed short arms are connected with one end of the rotating long arm through the rotating pair connecting rods, and the ends of the fixed short arms and the ends of the rotating long arm are meshed. The gripping claw is hinged with the rotating long arm; a stepping motor is installed in the stepping motor box, the stepping motor drives the wire rod to rotate, the first end of the nylon rope is fixedly wound on the wire rod, the other end of the nylon rope sequentially penetrates through wire holes in the stepping motor box, the fixed main connecting rod and the rotating long arm, and the stepping motor controls the nylon rope to stretch out and draw back and controls the clamping action of the gripping claw; climbing of the robot is completed through the clamping action of the grabbing structure and the telescopic action of the telescopic trunk. The bearing capacity and the self-adaptability of the robot are improved.

    本发明涉及一种仿生攀爬机器人,包括抓握结构和伸缩躯干,伸缩躯干穿插设置于抓握结构之间;抓握结构包括步进电机箱、线杆、尼龙绳、固定主连接杆、两个转动副连接杆、固定短臂、转动长臂及握爪,固定短臂分别安装于固定主连接杆的两端,固定短臂的另一端通过转动副连接杆与转动长臂的一端连接,且二者端部啮合,握爪与转动长臂铰接;步进电机箱内安装有步进电机,步进电机驱动线杆转动,尼龙绳的第一端固定缠绕于线杆上,另一端依次穿过步进电机箱、固定主连接杆和转动长臂上的线孔,通过步进电机控制尼龙绳的伸缩,控制握爪的夹持动作;通过抓握结构的夹持动作和伸缩躯干的伸缩动作完成机器人的攀爬。本发明提高了机器人的承载力和自适应性。


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    Title :

    Bionic climbing robot


    Additional title:

    一种仿生攀爬机器人


    Contributors:
    JIANG QUANSHENG (author) / CHEN HUAIXIN (author) / CAI KAI (author) / WU SHILEI (author) / YAO QIN (author) / SHEN YEHU (author) / FU GUIZHONG (author) / REN KUN (author) / ZHU QIXIN (author)

    Publication date :

    2024-11-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B25J Manipulatoren , MANIPULATORS



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