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Six-leg walking robot capable of crossing obstacles

A technology of walking robot and ability, which is applied in the direction of motor vehicles, transportation and packaging, etc., and can solve the problem of insufficient obstacle-surmounting ability of hexapod walking robots

Inactive Publication Date: 2014-01-01
BEIHANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] In order to solve the problem of insufficient obstacle-surmounting ability of existing hexapod walking robots, the present invention proposes a hexapod walking robot with obstacle-surmounting ability

Method used

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  • Six-leg walking robot capable of crossing obstacles
  • Six-leg walking robot capable of crossing obstacles
  • Six-leg walking robot capable of crossing obstacles

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Embodiment Construction

[0038] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0039] see figure 1 , Figure 1A , Figure 1B As shown, a hexapod walking robot with obstacle-surmounting ability of the present invention includes a left front leg 1, a right front leg 2, a left middle leg 3, a right middle leg 4, a left rear leg 5, and a right rear leg. The legs 6 and the trunk body 7; the trunk body 7 is composed of a front body 7A and a rear body 7B. Among them, the left front leg 1, the right front leg 2, the left middle leg 3, the right middle leg 4, the left rear leg 5 and the right rear leg 6 have the same structure; the left front leg 1 and the right front leg 2, the left middle leg 3 and the right middle leg 4 , The left rear leg 5 and the right rear leg 6 are arranged symmetrically with the X axis of the trunk body 7 .

[0040] left front leg 1

[0041] see figure 1 , Figure 1A , Figure 1B , Figure 4 , Figure 4A , F...

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Abstract

The invention discloses a six-leg walking robot capable of crossing obstacles. The walking robot comprises a left front leg (1), a right front leg (2), a left middle leg (3), a right middle leg (4), a left rear leg (5), a right rear leg (6) and a body (7). The body comprises a front body (7A) and a rear body (7B). The six legs are symmetrically disposed relative to the body (7). Each leg is provided with three joints, namely a hip joint, a thigh joint and a shank joint, coordination of the three joints guarantees front-rear swing, lifting, and bending and stretching of each leg. The three joints of each leg and body joints guarantee good obstacle crossing and slope climbing ability of the robot. The feet of each leg is connected in a buffer manner, and damping and energy accumulation recycling can be completed in a one-step cycle. The six-leg walking robot is flexible in motion, fast in response, large in motion space, small in motion inertia, and suitable for movements under complex non-structure topographic conditions of fields.

Description

technical field [0001] The present invention relates to a walking robot, more particularly, refers to a 19-degree-of-freedom hexapod walking robot with body joints capable of overcoming obstacles. Background technique [0002] Robots are usually divided into wheeled robots, tracked robots, and footed robots. Among them, the legged robot, that is, the walking robot, can cross relatively large obstacles (such as ditch, ridge, etc.), and the large number of degrees of freedom in the legs of the robot can make the movement of the robot more flexible. Compared with wheeled and tracked robots, walking robots have stronger adaptability to complex terrain, so they have a wide range of application prospects, such as space exploration, surveillance and reconnaissance, mining, nuclear energy industry, post-earthquake rescue, etc. [0003] As a typical representative of multi-legged walking robots, hexapod walking robots are characterized by rich gaits and the ability to walk efficient...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
Inventor 陈伟海刘冬裴忠才王建华任冠佼
Owner BEIHANG UNIV
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