基于曲柄摇杆机构的多足爬楼机器人设计

Design of Multi-legged Stair Climbing Robot Based on Crank and Rocker Mechanism

设计参照人形机器人的机械腿,前面采用三角轮增加整体稳定性,后面采用曲柄摇杆机构实现膝盖的功能,简化整体结构,降低生产成本。为保证爬楼过程的安全,采用单电机驱动,通过齿轮啮合传递动力,3组6条腿交替运动使载货机平稳爬行。由于三角轮与万向轮在底部,使得载货机在不使用时可以直立并移动,大大节省了占用空间。选用蜗轮蜗杆减速器实现电机正反转上下楼与停机自锁,通过各种独特的机构设计可提高设备的安全性,适用于平地和楼梯间。

This design refers to the mechanical leg of humanoid robot. Triangle wheel is used in front to increase the overall stability, and crank-rocker mechanism is used in the back to replace the function of knee, simplifying the overall structure and reducing the production cost. In order to ensure the safety in the process of climbing, a single motor drive is used to transfer power through gear meshing, and three groups of six legs move alternately to make the cargo carrier crawl smoothly. By triangular wheel and universal wheel at the bottom, so that the cargo carrier can stand up and move when not in use, greatly saving space. The worm gear reducer is used to realize the motor positive and negative rotation up and down the floor and self-locking shutdown, which through a variety of unique mechanism design, improve the safety of equipment, and can be achieved in the flat and stairwell are applicable.