Leg mechanism with grabbing function

Abstract

The invention discloses a leg mechanism with a grabbing function. The mechanism comprises a rack, a thigh, a shank and a foot end component. A first power machine and a second power machine are fixedon the rack; a first spur gear is fixedly mounted on an output shaft of the first power machine; a second spur gear is arranged at the upper end of the thigh; the upper end of the thigh sleeves an output shaft of the second power machine; the second spur gear is meshed with the first spur gear; a third spur gear is fixedly mounted on the output shaft of the second power machine; and the upper endof the shank is hinged to the tail end of the thigh, a fourth spur gear is arranged on the outer side of the upper end of the shank, the third spur gear and the fourth spur gear are in transmission connection through a synchronous belt, the foot end component is arranged at the tail end of the shank, a cavity is formed in the shank, and a grabbing transmission mechanism for making the foot end component carry out grabbing actions is arranged in the shank. By arranging the grabbing transmission mechanism in the shank, coordination control of the two power machines can be achieved, and leg typemovement and grabbing operation are realized.

Description

technical field [0001] The invention relates to the technical field of robot design, in particular to a leg mechanism with a grabbing function. Background technique [0002] In the event of fires, mine disasters, nuclear leaks, terrorist attacks and other events, it is often necessary to carry out dangerous tasks such as search and rescue, anti-terrorism, detonation, and reconnaissance. In order to reduce casualties, mobile robots are often used. Legged robots have strong terrain adaptability and have great application prospects in complex environments. In order to improve the working ability of the legged robot, it is necessary to design the grasping function for the robot. There are mainly two kinds of existing schemes, one is to install an independent mechanical arm equipped with claws on the body, and the other is to add an independently driven claw mechanism at the end of the legs. Both of these methods add extra power machines, increasing the weight of the robot. ...

AI Technical Summary

Problems solved by technology

Both of these methods add an extra power machine, increasing the weight of the robot

Images