A multi-mechanism collaborative driving based on mole cricket micro crawling and excavating robot

Abstract

The present application relates to the technical field of bionic robot, and particularly relates to a bionic mole cricket micro crawling and excavating robot based on multi-mechanism cooperative driving. The bionic mole cricket micro crawling and excavating robot comprises a four-legged crawling mechanism for driving the whole robot to move on the ground, a steering mechanism for adjusting the moving direction of the four-legged crawling mechanism on the ground and a bionic excavating mechanism for excavating soil; the four-legged crawling mechanism comprises a body and four bionic legs located at the bottom of the body, each group of the bionic legs is provided with a leg lifting mechanism and a leg swinging mechanism for periodically driving the bionic legs to sequentially perform leg lifting and leg swinging actions respectively; a transmission mechanism is arranged in the body, and the transmission mechanism is used for simultaneously driving the leg lifting mechanism and the leg swinging mechanism of each group of the bionic legs. The crawling mechanism design driven by a single motor reduces the number of actuators, makes the robot structure more compact, and through the multi-mechanism cooperative driving design, the robot can simultaneously realize the functions of crawling, steering and excavating.

Images