All-terrain telescopic-leg-type fix-foot rotating advancing robot

Abstract

The invention provides a robot which can move stably at all terrains. The robot can move in a complex terrain environment, and movement of a sliding platform on a linear guide rail is maintained. The robot can carry corresponding functional components and can complete corresponding functions, for example, a fighting part can be carried by a platform on the upper portion, and the robot can be used as a military robot. The robot comprises a rotating part A, a rotating part B, a connecting part C, a connecting part D, the platform E and the linear guide rail F, the rotating part A and the rotating part B are identical, and the connecting part C and the connecting part D are identical. The linear guide rail F is connected with the C and the D through shaft sleeves (16), the linear guide rail F can rotate around a plane thrust bearing (7), and the A and the B can be pulled and held by the F during foot lifting. The C and the D are fixed onto a leg carrying platform (10) through a bearing support (8) so as to achieve connection of the C and the A and connection of the D and the B. The moving platform E achieves movement of the center of gravity, after movement of the center of gravity is completed, the leg on the rotating part A or the rotating part B is lifted up so as to achieve foot lifting, the D or the C is rotated to achieve stepping, after rotation is completed, the lifted leg falls so as to achieve foot falling, and finally movement is achieved.

Description

technical field [0001] The invention relates to the field of robot movement, and provides a new form of robot movement, in particular to an all-terrain telescopic leg type hexapod rotating forward robot. Background technique [0002] Existing robot bionics, wheeled, crawler and so on. The wheel mechanism has the advantages of light weight, large load, simple mechanism, relatively convenient driving and control, fast walking speed, flexible maneuvering, and high work efficiency. However, its motion stability has a lot to do with the road conditions. Trajectory control cannot be solved well, and it is very difficult to realize movement on complex terrain such as stairs or mountains. The track has the characteristics of small grounding specific pressure, good adhesion and passing performance on soft ground, high stability in climbing stairs and obstacle surmounting, and good self-resetting ability. However, it also has great requirements for terrain. When moving in complex ter...

AI Technical Summary

Problems solved by technology

The wheel mechanism has the advantages of light weight, large load, simple mechanism, relatively convenient driving and control, fast walking speed, flexible maneuvering, and high work efficiency. However, its motion stability has a lot to do with the road conditions. Trajectory control cannot be solved well, and it is very difficult to realize movement on complex terrain such as stairs or mountains

The track has the characteristics of small grounding specific pressure, good adhesion and passing performance on soft ground, high stability in climbing stairs and obstacle surmounting, and good self-resetting ability. However, it also has great requirements for terrain. When moving in complex terrain The stability is also very poor and the uncertainty is large

The track damages the ground greatly when turning. This shortcoming makes the wheeled and tracked moving mechanisms unable to transport large-scale goods, and it is difficult to achieve smooth movement in complex environments.

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