Symmetrical bionic hexapod walking device

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...

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.

Images