A twelve-legged robot and its motion method

A robot and motion technology, applied in the field of robots, can solve problems such as inability to crawl, less degrees of freedom, and inconvenient turning

Inactive Publication Date: 2011-12-21
JINLING INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This just requires the feet of the crawling robot to be vertical to the ground all the time. figure 1 The quadruped robot shown in CN201010219094.3 is used to solve this problem. The quadruped robot includes a body 3', a leg structure 1' with a parallel four-bar mechanism, a servo motor 2' and a main servo motor 4'. Not only has less freedom, but also can ensure that the feet are in a vertical state with the ground when moving, and can realize various crawling gaits by controlling the motion parameter

Method used

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  • A twelve-legged robot and its motion method
  • A twelve-legged robot and its motion method
  • A twelve-legged robot and its motion method

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Embodiment Construction

[0049] Below in conjunction with accompanying drawing and embodiment the invention is described in detail:

[0050] The present invention designs a twelve-legged robot composed of six legs and its motion method. When the bending angle is large, it only needs to stop the moving mechanism and start the moving mechanism that needs to rotate slightly to bend. Turning can realize large-angle turning, and this patent is fixed or adsorbed on the vertical crawling surface through the intermediate movable mechanism, so as to realize vertical crawling.

[0051] As a specific embodiment of this patent, the structural schematic diagram is as follows: figure 1 Shown is a twelve-legged robot, including a main body 1, a main servo motor 2-1, a movable servo motor 2-2, a rotating servo motor 2-3, a movable mechanism 3, a leg structure 5 and a foot member 6, The main servo motor 2-1 is arranged in the main body 1, and the main body 1 is provided with a partition plate 1-1, and the partition ...

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Abstract

The invention relates to a robot with twelve feet, and the robot provided by the invention comprises a main body, a main servo motor, moving servo motors, rotating servo motors, moving mechanisms, leg structures and foot components, wherein the main servo motor is arranged in the main body; separating plates are used for dividing the main body into six areas; rotating position sensors are arranged on the separating plates; the moving mechanisms are fixed in all the areas of the main body by virtue of fastening components; two servo motors which are used for controlling the leg structures of the robot to move up and down and two servo motors which are used for controlling the leg structures of the robot to rotate are arranged in support plates of the moving mechanisms; each of the servo motors used for controlling the leg structures of the robot to move up and down is provided with one leg structure; and the foot components are mounted at the bottoms of the leg structures. The robot with twelve feet, which is composed of six legs, provided by the invention is designed for realizing wide-angle steering by stopping the travelling moving mechanism and starting the to-be-rotated movingmechanism when a steering angle is wider.

Description

technical field [0001] The invention relates to the field of robots, in particular to a twelve-legged robot and a movement method thereof. [0002] Background technique [0003] Reptile robots have good stability and terrain adaptability, and have been used more and more in field scientific exploration and alien planet detection. However, with the deepening of these explorations, the terrain and surface environment required to be explored are becoming more and more complex. In the past, crawling robots often slipped or even overturned because they could not attach to slopes; on extremely rough surfaces full of rocks and sand, robots that use foot vacuum adsorption could not move forward effectively. If the feet of the crawling robot are equipped with drill bits inserted into the ground surface, the robot can be firmly attached to the above-mentioned ground surface environment and effectively climb. This just requires the feet of the crawling robot to be vertical to the gro...

Claims

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Application Information

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IPC IPC(8): B62D57/032
Inventor 王珺李晓晖罗卫平赵海霞陈曼华姜小菁
Owner JINLING INST OF TECH
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