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Low-energy-loss six-foot robot

A hexapod robot, low energy consumption technology, used in motor vehicles, transportation and packaging, etc.

Inactive Publication Date: 2015-03-25
SOUTHWEST UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0009] The purpose of the present invention is to provide a low-energy hexapod robot suitable for long-term unmanned work in rugged mountainous terrain, to solve the basic problem of ground mobile transportation for mountainous agriculture and forestry operations, and to adapt to the future development of intelligent agriculture and forestry in large-area mountainous areas Production operation system establishes basic platform and solves key technologies

Method used

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  • Low-energy-loss six-foot robot
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  • Low-energy-loss six-foot robot

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Embodiment Construction

[0066] The technical solution of the present invention will be further specifically described below through specific embodiments in conjunction with the accompanying drawings.

[0067] Embodiment: described low energy consumption hexapod robot such as figure 1 As shown, it includes 6 legs 1-6 and a body 7, each leg has 3 single-degree-of-freedom motion joints, and the foot of each leg is connected to the end leg joint through a spherical hinge; the whole robot has 18 active motion joints (Controlled degrees of freedom), whose main feature is to use 1 driver to control all 18 degrees of freedom, and complete each leg swing and posture adjustment (posture adjustment) movement in various gaits in a step-by-step motion manner.

[0068] 1. Leg structure of low energy consumption hexapod robot

[0069] Legs 1 to 6 have the same structure, and the transmission system of each active joint of the leg will be described in detail by taking leg 1 as an example. Such as figure 2 As sh...

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Abstract

The invention relates to a low-energy-loss six-foot robot which is suitable for long-time non-person working in mountain areas. The low-energy-loss six-foot robot comprises six legs and one body. Each leg is provided with three controllable single-freedom-degree joints relative to the body, the joints are driven in a rope-driving mode. The body comprises a driving wheel array, a driving wheel locking control mechanism array, one or more main driver modules, an annular track module, a function expanding platform and a supporting structure. The main driver modules drive the joints, the number of the main driver modules can be smaller than that of the joints, and accordingly one driver can control moving of a plurality of joints. Various slow step states are used in a sub-step moving mode. Compared with the prior art, the problem that the drivers doing negative work, so that energy loss is caused can be avoided, leg inertia is small, moving is slow, friction is low, when self weight is supported, the joints can be locked under control, supporting moment does not need to be provided, the low-energy-loss six-foot robot can be used in various existing six-foot robot slow step states, rugged terrain adaptability is kept, and meanwhile the problem of high energy loss of the six-foot robot is fundamentally solved.

Description

technical field [0001] The invention relates to the field of multi-legged robots, in particular to a low-energy hexapod robot suitable for long-term unmanned agricultural and forestry operations in mountainous and rugged terrain. Background technique [0002] There are many types of operations related to mountain agriculture and forestry. To solve their mechanization, automation, and intelligence problems, we must first solve the problem of moving and transporting various operating tools and materials on the rugged mountain terrain. Obviously, the transportation mode relying on human-driven agricultural machinery cannot be called an automated and intelligent solution, but can only be called a semi-mechanized solution. The "mobile transport" mentioned here, especially moving and transporting on rough roads, is exactly the basic starting point for people to study multi-legged robots. However, so far, multi-legged robots are still a long way from practical applications. There...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 张春
Owner SOUTHWEST UNIV
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