Symmetrical bionic hexapod walking device

A walking device, symmetrical technology, applied in the field of machinery, can solve problems such as poor passability in non-structural environments, and achieve the effects of good adaptability, simple structure and simple control

Active Publication Date: 2011-12-07
JILIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is to provide a symmetrical bionic hexapod walking device, which solves the problems of poor passability of wheeled and crawler-type walking mechanisms on complex road surfaces and non-structural environments.

Method used

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  • Symmetrical bionic hexapod walking device

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Embodiment Construction

[0046] The detailed content of the present invention and its specific implementation will be further described below in conjunction with the accompanying drawings.

[0047] see figure 1 , the symmetrical bionic hexapod walking device of the present invention comprises two upper mechanism I and lower mechanism II with the same structure and center symmetry, the upper mechanism I is connected with the lower mechanism II through the central steering unit, and the steering unit includes a cone Gear I 25, steering shaft 26, bevel gear II 27 and motor 28, this motor 28 is connected with steering shaft 26 by the bevel gear pair that is formed by bevel gear I 25 and bevel gear II 27, drives steering shaft 26 to rotate and realizes turning; In the upper mechanism I, the support unit is composed of the upper frame housing 16 and the C-shaped leg support block I 1, the C-shaped leg support block II 11, and the C-shaped leg support block III 19; wherein, the precision motor 18 is connecte...

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PUM

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Abstract

The invention relates to a symmetric bionic hexapoda walking device and belongs to a robot. The symmetric bionic hexapoda walking device comprises an upper layer mechanism and a lower layer mechanism, wherein the upper layer mechanism and the lower layer mechanism are same in structure and centrosymmetric; the upper layer mechanism is connected to the lower layer mechanism through a central steering unit; the central steering unit comprises a bevel gear I, a steering shaft, a bevel gear II and a motor; and the motor is connected to the steering shaft through a bevel gear pair composed of the bevel gear I and the bevel gear II. A novel bionic hexapoda walking mechanism is designed on the basis of bionics. A gait motion mode of a hexapoda insect is taken as a template of the bionic hexapodawalking mechanism, wherein a propodium and a metapodium on one side and a mesopodium on the other side are taken as one set and a triangular support mechanism is formed when the bionic hexapoda walking mechanism walks for one step. Such a walking mode is characterized by low center of gravity and fast response, so that the novel bionic hexapoda walking mechanism has ultrahigh structural stability. Meanwhile, a rotating shaft is designed in the central position of a robot mechanism, so that the robot mechanism provided by the invention has a double-layered flexible structure and can be more conveniently steered.

Description

technical field [0001] The invention relates to machinery, in particular to a robot, especially a symmetrical bionic hexapod walking device integrating functions such as drive, precise transmission, gait mode selection and flexible steering. It has excellent passing ability for unstructured environments (such as complex environments such as deserts and swamps), and belongs to a device capable of walking in complex terrains, especially a bionic walking device with a light structure and adaptable to complex terrains. Because the walking device has good adaptability to non-structural environments, it has broad application prospects for the detection and survey of these harsh environments, and can be used in military investigation, geological survey, Mars exploration and other fields. Background technique [0002] Robot technology has developed with the advancement of technology and engineering technology. In recent years, robots, especially mobile robots, have been increasingly...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
Inventor 赵宏伟任露泉赵波刘长胜傅璐
Owner JILIN UNIV
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