Reversible and amphibious multi-legged robot with variable postures

A multi-legged robot and attitude-changing technology, which is applied in motor vehicles, electromechanical devices, and control of mechanical energy, etc., can solve the problems of poor adaptability to amphibious environments, no ability to swim, and invariable attitudes, and achieve flexible activities, concentrated weight, Increase the effect of inertia

Inactive Publication Date: 2009-11-04
HARBIN ENG UNIV
View PDF1 Cites 46 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, these types of multi-group robots also have the following common disadvantages: (1) the posture is not variable, and the adaptability to the amphibious environment is poor; (2) it is necessary to overcome the gravity of the leg motors to do useless work when walking; (3) there is no swimming ability; ( 4) Larger quality

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Reversible and amphibious multi-legged robot with variable postures
  • Reversible and amphibious multi-legged robot with variable postures
  • Reversible and amphibious multi-legged robot with variable postures

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0021] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0022] combine figure 1 , the posture-changing reversible amphibious multi-legged robot of the present invention is composed of three parts: a body support, a one-way input vertical output module, and a leg mechanism.

[0023] combine figure 2 and image 3 , the body bracket is the matrix connecting 8 walking feet, and there is a left and right spiral worm gear mechanism inside, which can realize the change of the robot's own posture. It specifically includes: worm bearing 1, worm shaft 2, right bracket 3, front worm fixing seat 4, worm shaft 5, worm wheel 6, large spur gear 7, motor fixing seat 8, rear worm fixing seat 9, end cover Screw 10, rear end cover 11, left bracket 12, attitude adjustment motor 13, worm gear bearing 14, front end cover 15, left-handed worm gear 16, fixed motor base screw 17, fixed motor screw 18, small spur gear 19, right-handed worm ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention provides a reversible and amphibious multi-legged robot with variable postures. The robot comprises three parts, i.e. a body bracket, a one-way input and vertical output module and a leg mechanism, wherein the one-way input and vertical output module is installed on the body bracket, and the leg mechanism is installed on the one-way input and vertical output module. The reversible and amphibious multi-legged robot with variable postures of the invention is formed by the parallel connection of a plurality of walking legs, and by controlling a posture adjustment motor, the real-time change of the standing and moving postures of the robot can be realized, thereby improving the capability of adapting to the complex amphibian environment; and each walking leg is formed by the serial connection of the one-way input and vertical output module and the leg mechanism. A tridimensional force sensor is installed at the leg end and is used for feeding back the stress of the leg end during movement, so as to realize the closed loop control of the stress of each leg of the robot.

Description

(1) Technical field [0001] The invention relates to a robot structure, in particular to a multi-legged robot structure. (2) Background technology [0002] Harbin Engineering University has launched basic technology research on bionic robot crabs since 1999, and has developed various types of products so far. Wherein more advanced is the technical scheme that the patent application number is 200710072364.0, (publication number: CN101088835) record in the patent application document. However, these types of multi-group robots also have the following common disadvantages: (1) the posture is not variable, and the adaptability to the amphibious environment is poor; (2) it is necessary to overcome the gravity of the leg motors to do useless work when walking; (3) there is no ability to swim; ( 4) Larger quality. (3) Contents of the invention [0003] The object of the present invention is to provide a posture-changing reversible amphibious multi-legged robot with compact struc...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032A63H11/20H02K7/00
Inventor 王立权刘德峰陈东良王刚李林穆星科陈曦吴磊
Owner HARBIN ENG UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap