Four-feet climbing robot

Abstract

The invention relates to a four-feet climbing robot, comprising a trunk, upper limbs, lower limbs, hands and feet, wherein shoulder steering engines are located at the upper parts of two trunk side plates and elbow steering engines are connected with the shoulder steering engines through rear arms; a wrist steering engine is located between each hand and each front arm; hip steering engines are located at the inner sides of the lower parts of the two trunk side plates; a thigh is located between each hip steering engine and a knee steering engine; and shanks are fixedly connected with the feet and the knee steering engines. A shoulder rotary pair can be rotated in a vertical plane; an elbow rotary pair and a wrist rotary pair rotate in a horizontal plane; and a hip rotary pair and a knee rotary pair rotate in a vertical plane. A structure that the robot embraces a rod body to climb is realized through simulating an animal body structure and a tree climbing manner. When the robot climbs the rod body, an inclined angle is formed between the robot and the rod body, the hands and the feet have mutual effects with the rod body to generate a friction force, so that the robot is self-locked on the rod body under the effect of self gravity; and other clamping mechanisms are not needed, so that the four-feet climbing robot saves the energy consumption and also can improve the energy utilization rate of the robot.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a bionic quadruped robot with climbing ability. Background technique [0002] With the continuous development of robot technology, the application of robot technology in modern life is increasing day by day. Climbing robots are one of the most widely used robots and have a wide range of applications. In the civilian field, in high-altitude operations such as high-altitude maintenance, environmental monitoring, tree pest control, wire erection and maintenance, and street lamp maintenance and replacement, climbing robots can replace humans for such dangerous operations; It is used for tasks such as covert detection and material delivery. Existing climbing robots include telescopic, flipping, and climbing types, but these climbing methods have the problems of poor robot movement flexibility, small range of motion for each part of the body, small crawling load and low energy utiliza...

AI Technical Summary

Problems solved by technology

[0005] In order to avoid the deficiencies in the prior art and overcome the problems of small crawling load and low energy utilization rate when climbing, the present invention proposes a quadruped climbing robot; by imitating the shape structure of a sloth and the way of climbing trees, Realize the structure that the robot hugs the rod body for climbing

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