Reconstructable multi-legged robot

A technology of a multi-legged robot and a motor bracket is applied in the field of reconfigurable multi-legged robots, and can solve the problems of the structure and control complexity of the walking robot.

Inactive Publication Date: 2015-06-24
JIAMUSI UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The purpose of the present invention is to overcome the above-mentioned shortcomings, and provide a reconfigurable multi-legged walking robot, which solves the complexity of the structure and control of the walking robot, the stability in the walking process of the robot, and the adaptability to different application environments, etc. question

Method used

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  • Reconstructable multi-legged robot

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Embodiment Construction

[0011] combined with figure 1 to attach Image 6 The present invention is further described.

[0012] attached figure 1 The shown reconfigurable multi-legged robot is composed of: a leg unit 1 and a connecting plate 2 . There are multiple leg units 1, and any two leg units are connected by connecting plates 2 to realize multi-legged robots in different forms. figure 2 The shown leg unit 1 includes: base plate 1-1, first gear 1-2, transmission bracket 1-3, coupling 1-4, motor bracket 1-5, motor 1-6, second gear 1-7 , the third gear 1-8, crank 1-9, rocking bar 1-10, connecting rod 1-11, guide rod 1-12, slide block 1-13, guide rod support 1-14 and leg bar 1-15. The moving bracket 1-3 and the motor bracket 1-5 are respectively fixed on the base plate 1-1, the motor 1-6 is fixed on the motor bracket 1-5, and the motor 1-6 is connected to the first gear 1-4 through the shaft coupling 1-4. 2 are connected, the first gear 1-2, the second gear 1-7, and the third gear 1-8 are resp...

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Abstract

The invention relates to a reconstructable multi-legged robot which is formed by a plurality of leg units and connection plates. Any two leg units are connected through the corresponding connection plates to achieve multi-legged robots of different types. Regarding each leg unit of the reconstructable multi-legged robot, a single motor drives leg rods on the two sides to achieve the alternative walking action. When the reconstructable multi-legged robot walks, multiple leg rods support the robot on the ground at any moments so as to ensure the stability of the robot. Marching, retreating and turning of the robot are achieved by controlling the rotating speeds and rotating directions of the motors of different leg units. The reconstructable multi-legged robot is simple in structure, easy to control, and high in movement stability, adaptability to different environments and practical value in the fields of military, exploration, entertainment and the like.

Description

technical field [0001] The invention relates to a reconfigurable multi-legged robot. Background technique [0002] The robot walking system directly affects the application range of the robot. At present, in the motion mechanism of mobile robots, wheeled, tracked and footed mechanisms are commonly used. Compared with wheeled robots or tracked robots, multi-legged robots have higher mobility and good performance on complex road surfaces. adaptability. Most of the current multi-legged robots use multi-degree-of-freedom mechanisms for single-legged structures, and control the forward, backward, and turning movements of the single foot through the movement of multiple joints (joints) of the drive mechanism. On the basis of the multi-legged robot, it is necessary to coordinate the alternating motion between multiple legs, which leads to difficult control and complex structure, which makes the stability of the existing multi-legged robot insufficient. On the other hand, specifi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 殷宝麟颜兵兵任文博虞风陈超奇陈长春王霖盛银河司艳娇刘晨聪
Owner JIAMUSI UNIVERSITY
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