Six-foot robot based on synchronous belt transmission

Abstract

The hexapod robot based on synchronous belt transmission comprises an upper chassis and a lower chassis, a plurality of mechanical leg mechanisms are installed on the adjacent end faces of the upper chassis and the lower chassis, and each mechanical leg mechanism is composed of a first-stage mechanical leg assembly, a second-stage mechanical leg assembly and a third-stage mechanical leg assembly; the first-stage mechanical leg assembly is installed on the adjacent end faces of the upper chassis and the lower chassis, the second-stage mechanical leg assembly is installed at the output end of the first-stage mechanical leg assembly, and the third-stage mechanical leg assembly is installed at the output end of the second-stage mechanical leg assembly. The three-stage leg driving steering engine is close to the leg heel, so that the rotational inertia of the whole leg is reduced, and the control sensitivity is effectively improved. And meanwhile, when the robot is in a high-position posture, the fording depth can be increased, the three-stage leg driving steering engine is prevented from entering water, the synchronous belt can still transmit power to the joints after the placement position of the three-stage leg driving steering engine is moved, and the transmission effect is not affected while the rotational inertia is reduced.

Description

technical field [0001] The invention relates to a robot design, in particular to a hexapod robot driven by a synchronous belt, and belongs to the technical field of robot design. Background technique [0002] Bionic hexapod robots, as a representative of multi-legged robots, can walk on unstructured terrain, and have stronger obstacle-surmounting ability and environmental adaptability than conventional robots. However, most current robots use steering gear to control the leg movement. The stride and frequency of this kind of walking are difficult to meet the requirements of fast walking, and it is difficult for the hexapod robot controlled by the steering gear to cross obstacles higher than its own limit. The motor-driven hexapod robot has shown stronger rapid maneuverability. With the help of the friction between the legs and the ground during the rotation process and the elasticity of the legs themselves, they can climb over more complex obstacles. [0003] The three-stag...

AI Technical Summary

Problems solved by technology

[0003] The three-stage legs of traditional hexapod robots drive the steering gear at the joints, so that the weight on the joints is relatively large, which makes the moment of inertia of the whole leg too large, which greatly reduces the control sensitivity of the hexapod robot, and the robot adopts When the attitude is high, the wading depth is relatively limited, which greatly reduces the work efficiency. Therefore, the present invention discloses a hexapod robot based on synchronous belt transmission.

Images