The invention relates to the technical field of robots, in particular to a hexapod robot based on heterogeneous bionic foot groups, which comprises a robot body, four advancing legs and two buffer legs, one marching leg, one buffering leg and one marching leg form a foot group in sequence, and the two foot groups are oppositely mounted on the left side and the right side of the robot body; the advancing leg and the buffering leg are respectively formed by movably connecting a plurality of sections of joint limbs; the marching leg comprises a tail end marching joint, the middle of the tail end marching joint is connected with a previous joint limb, and a track is installed on the tail end marching joint in a rolling mode around the limb and used for making contact with the ground; the buffer legs flexibly move between the machine body and the ground; the problem that an existing hexapod robot structure generally has difficulty in cooperative coexistence of terrain adaptive capacity, movement efficiency and load performance (namely bearing capacity) is solved.
本发明涉及机器人技术领域,特别是一种基于异构仿生足群的六足机器人,包括机身、四条行进腿和两条缓冲腿;依次以一条行进腿、一条缓冲腿和一条行进腿为一组足群,两组足群相对安装于机身的左侧和右侧;行进腿和缓冲腿均由多段节肢活动连接构成;行进腿包括末端行进节,末端行进节的中部与上一节肢连接,末端行进节绕肢滚动安装有履带,履带用于与地面接触;缓冲腿介于机身与地面之间柔性活动;解决了现有六足机器人结构普遍存在地形适应能力、运动效率以及负载性能(即承重能力)难以协同共存的问题。
Hexapod robot based on heterogeneous bionic foot groups
一种基于异构仿生足群的六足机器人
2025-05-13
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |