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Modular mechanical crab

A modular and mechanical technology, applied in the field of robots, can solve the problems of no self-locking, poor carrying capacity, large transmission gap, etc., and achieve the effect of convenient maintenance and simple processing

Inactive Publication Date: 2007-12-19
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The first three types of robots have a common shortcoming: (1) small transmission ratio and poor carrying capacity; (2) large transmission clearance; (3) no self-locking ability

Method used

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  • Modular mechanical crab
  • Modular mechanical crab
  • Modular mechanical crab

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Embodiment Construction

[0058] The present invention will be further described below in conjunction with accompanying drawing and specific embodiment:

[0059] Each walking foot of the modular mechanical crab of the present invention is composed of three modular transmission structure front ends, middle ends and ends connected in series, except that two walking feet are designed as composite walking feet to meet the needs of specific tasks—the claw foot , and the mechanical crab as a whole is composed of eight walking legs connected in parallel. Therefore, the modular transmission structure is the basic unit of the mechanical crab. This structure has the advantages of strong versatility, self-locking output, adjustable protection motor, large transmission angle (<270°), easy control, easy processing, easy assembly and maintenance. The modular transmission structure of the present invention can not only be applied to eight-legged crabs, but also can be used by any crawling robots such as bipedal, quad...

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Abstract

The modular mechanical crab includes one trunk and at least one pair of walking legs, the trunk has one mounted controller and one remote control device, and each of the walking legs consists of three modular structures, one front section, one middle section and one end section, connected serially. It has also fixed board for connecting the walking legs to the trunk, and damping modules and 3D force sensors mounted in the front sections of the walking legs. Each of the modular structures includes one DC servo motor, one transmission mechanism connected to the DC servo motor, and one transfer joint block connecting the transmission mechanism to other structural module. The modular mechanical crab in modular structure with self locking and adjustable motor protecting characteristic has function of self turning and walking in complicated conditions, capacity of moving and operating in amphibious environment, and other functions and advantages.

Description

(1) Technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a bionic mechanical crab designed with a modular structure and capable of amphibious activities and self-turning. (2) Background technology [0002] Bionics is a comprehensive frontier science that emerged in the 1960s. It is formed by the interpenetration and combination of life science and engineering technology. By learning, imitating, replicating and recreating the structure, function, and Principles of operation and control mechanisms to improve existing or inventive machinery, instruments, buildings and processes. The premise of the emergence and existence of the subject of bionic robots is that organisms have evolved through long-term natural selection, and are highly rational, scientific and innovative in structure, function execution, information processing, environmental adaptation, and autonomous learning. progressive. Unstructured, unknown working env...

Claims

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Application Information

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IPC IPC(8): B62D57/032A63H11/20H02K7/00
Inventor 王立权季宝锋陈东良邓辉峰刘德峰王刚
Owner HARBIN ENG UNIV
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