Modularized multiped walking robot capable of realizing functional shift between hands and feet

A walking robot and modular technology, applied in the field of robots, can solve the problems of no clamping functional parts in the foot unit, increasing the difficulty of processing and assembly, and many parts, etc., so as to reduce the number of connecting parts, reduce the installation position accuracy, reduce the The effect of the difficulty of machining and assembly

Inactive Publication Date: 2010-10-06
ZHENGZHOU UNIVERSITY OF LIGHT INDUSTRY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In this technical solution, two steering reducers are required, and the movement is transmitted through the meshing of two spur gears with the same spur gear. This structure requires many parts to be installed during assembly, and the two spur gears are connected with one The spur gears mesh with each other, otherwise they will interfere with each other, which increases the difficulty of processing and assembly
Moreover, the foot unit of this technical solution is not provided with clamping functional parts, and can only be used as the foot of the robot, but it cannot meet the requirements for robots that need to grab objects.

Method used

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  • Modularized multiped walking robot capable of realizing functional shift between hands and feet
  • Modularized multiped walking robot capable of realizing functional shift between hands and feet
  • Modularized multiped walking robot capable of realizing functional shift between hands and feet

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Embodiment 1

[0028] The present invention will be described in further detail below through embodiments in conjunction with the accompanying drawings.

[0029] Such as figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 and Figure 9 As shown, in this embodiment, the modular multi-legged walking robot that can realize the function conversion of hands and feet includes a frame, a first foot unit 101, a second foot unit 102, and a third foot unit 103 distributed on the left and right sides of the frame. , the fourth foot unit 104, and a controller (not shown in the figure), at least one of the four foot units is Figure 4 In the illustrated foot unit with reusable hands and feet, the fourth foot unit 104 in this embodiment is a reusable foot unit with hands and feet, so as to facilitate the robot to grasp objects. The first foot unit 101, the second foot unit 102, the third foot unit 103 and the fourth foot unit 104 are all composed of the hip...

Embodiment 2

[0034] Such as Figure 10 and Figure 11 As shown, this embodiment is a hexapod robot. On the basis of the foregoing embodiments, the longitudinal beam 107 is lengthened, and a beam 108, the fifth foot unit 105 and the sixth foot unit 106 are added. Of course, the fifth foot unit 105 The place where the sixth foot unit 106 is connected to the frame also needs to be provided with a foot unit driving motor, a foot unit reducer and a corresponding worm gear transmission. In this hexapod robot, at least two foot units are foot units with reusable hands and feet. In this implementation, the fifth foot unit and the sixth foot unit are set as reusable foot units with hands and feet, and their lower leg units are as follows Figure 6 structure shown. At this point, the other four foot units can be used Figure 7 Foot unit shown.

[0035] Of course, in addition to the above-mentioned technical solutions, the detecting device connected to the motor may also be a resolver, and the po...

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PUM

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Abstract

The invention provides a modularized multiped walking robot capable of realizing functional shift between hands and feet, which comprises a stander, a first foot unit, a second foot unit, a third foot unit, a forth foot unit and a controller, wherein the first foot unit, the second foot unit, the third foot unit and the forth foot unit are distributed at the left side and the right side of the stander and respectively consists of a hip unit, a thigh unit and a shank unit. The modularized multiped walking robot capable of realizing functional shift between hands and feet is formed by the assembly of modularized structures, has strong spreading capability, and can greatly reduce the designing and machining difficulty. Each combinable joint of the robot adopts an end driving device with two output shafts, the end driving device only needs to be connected with a gear to drive two connecting discs so as to realize the steering function, thereby being capable of reducing connecting parts, being capable of adopting meshed gear pairs which are meshed with each other one by one at the middle driving device, reducing the precision of the installation position of the gear, and reducing the machining and assembling difficulty.

Description

Technical field: [0001] The invention relates to a robot, in particular to a modular multi-legged walking robot which can realize the function conversion of hands and feet. Background technique: [0002] With the rapid expansion of human society's various needs, such as energy, human beings continue to expand the field of activity to unknown or dangerous environments. Early detection activities in dangerous or unknown environments have paid the price of human life. How to work safely and efficiently in dangerous or unknown environments has become the key to solving this contradiction, and mobile robots with bionic features have become the research and attention of scholars because they can replace people in some unstructured environments. hotspot. Compared with wheeled and tracked mobile robots, walking robots have better ground adaptability, flexibility, and low energy consumption of the motion system on rough roads. In this context, the multi-legged walking robot Resear...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
Inventor 王新杰王良文陈学东张欲晓方育萍潘春梅高飞张小辉
Owner ZHENGZHOU UNIVERSITY OF LIGHT INDUSTRY
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