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Eighteen degrees of freedom robot with bucket

A degree of freedom and robot technology, applied in the direction of motor vehicles, loading/unloading, transportation and packaging, etc., can solve problems such as complex structure and control, and achieve the effects of reducing driving costs, reducing moment of inertia, and facilitating protection

Active Publication Date: 2017-04-12
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The more feet the robot has, the better the stability will be, but the structure and control will be more complicated

Method used

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  • Eighteen degrees of freedom robot with bucket
  • Eighteen degrees of freedom robot with bucket

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Embodiment Construction

[0023] The embodiment of the present invention will be described in detail below: this embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and specific operation process are given. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can be made, and these all fall within the protection scope of the present invention.

[0024] This embodiment provides a new type of eighteen-degree-of-freedom robot with a bucket, which includes a body and a plurality of mechanical legs that are evenly installed on both sides of the body in two groups; wherein each mechanical leg is individually controlled by a driving system Movement; each drive system adopts a three-branched chain parallel mechanism, the three-branched chain parallel mechanism is fixedly connected to the body, and is connected with a corre...

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Abstract

The invention provides a novel eighteen-degree-of-freedom robot with a bucket. Each mechanical leg is independently controlled through a driving system. A three-branch-chain parallel mechanism is adopted in each driving system, and each first branch-chain structure comprises a push rod a and a second rod piece a, wherein the push rod a is connected with a main body through a nut and a lead screw, the second rod piece a is connected with the push rod a through a hooke joint and connected with the corresponding mechanical leg through a spherical hinge, and a triangular platform is fixedly connected to the second rod piece a. Each second branch-chain structure and each third branch-chain structure comprise push rods b and second rod pieces b, wherein the push rods b are connected with the main body through nuts and lead screws, and the second rod pieces b are connected with the push rods b through hooke joints and connected with the correspondingly triangular platforms through spherical hinges. The novel eighteen-degree-of-freedom robot is a six-degree-of-freedom redundant drive moving platform, and is high in bearing capability, stale in walking, small in energy consumption, simple in operation system and easy to operate.

Description

Technical field [0001] The invention relates to the technical field of walking robots, in particular to a new type of eighteen-degree-of-freedom robot with a bucket. Background technique [0002] Footed robots are widely used in complex and rugged terrain. For example, the rescue work after an earthquake often requires footed robots to complete. Unlike wheel\crawler robots, foot robots only need a few independent footholds during the movement. When performing rescue tasks, the robot needs to install sensory sensors (such as cameras, lasers, and sonar) to monitor the surrounding environment. It also needs to install operating tools to complete tasks such as clearing obstacles, opening doors, finding and repairing leaking pipes. In these cases, weight-bearing capacity is an important performance indicator. Different types of foot robots have differences in the number of legs, mechanism design, degree of freedom, weight, size, weight, speed, stability, control algorithm and applic...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B65G65/04B62D57/032
CPCB62D57/032B65G65/04
Inventor 高峰陈先宝金振林杜惠潘阳赵一楠
Owner SHANGHAI JIAO TONG UNIV
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