Three-section machine body type hexapod robot with transportation function and operation function fused

A hexapod robot, three-stage technology, applied in the field of robots, can solve the problems of single function and fixed rigid body structure of the robot, and achieve the effect of improving the flexibility of movement, increasing the movement space, and ensuring stability

Active Publication Date: 2016-02-03
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a three-section body type hexapod robot with integrated transportation and operation functions in view of the problems that the rigid body structure of the current hexapod robot is fixed and the robot has a single function

Method used

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  • Three-section machine body type hexapod robot with transportation function and operation function fused
  • Three-section machine body type hexapod robot with transportation function and operation function fused
  • Three-section machine body type hexapod robot with transportation function and operation function fused

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Experimental program
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specific Embodiment approach 1

[0021] Specific implementation mode one: as Figure 1~Figure 6 As shown, a three-segment body type hexapod robot integrating transportation and operation functions in this embodiment includes two front legs (both front legs are leg-arm fusion legs), two middle legs and two For the hind legs, the two front legs are respectively the left front leg 4 and the right front leg 7, the two middle legs are respectively the left middle leg 5 and the right middle leg 8, and the two rear legs are respectively the left rear Leg 6 and right rear leg 9; the three-section body type hexapod robot with integrated transportation and operation functions also includes a dump bucket 10, a front drive joint 11, a middle drive joint 13, a rear drive joint 15 and a three-section body , the three-section body is respectively a front trunk 1, a middle trunk 2 and a rear trunk 3;

[0022] The front trunk 1 is rotationally connected with the middle trunk 2 through the front drive joint 11 (the front driv...

specific Embodiment approach 2

[0025] Specific implementation mode two: as Figure 1~Figure 3 As shown in the first embodiment, a three-segment body type hexapod robot integrating transportation and operation functions, the left middle leg 5, left rear leg 6, right middle leg 8 and right rear leg 9 have the same structure , and all include leg driving joint one 17, base joint one 18, leg driving joint two 19, thigh one 20, leg driving joint three 21, calf one 22, leg passive joint one 23 and foot one 24;

[0026] The leg driving joint one 17, the base joint one 18, the leg driving joint two 19, the thigh one 20, the leg driving joint three 21, the calf one 22, the leg passive joint one 23 and the foot one 24 are arranged in sequence, and the leg driving joint one The driver of 17 is arranged in base section one 18, and described base section one 18 is hinged with leg driving joint two 19, and described leg driving joint two 19 is hinged with one end of thigh one 20, and the other end of described thigh one 20...

specific Embodiment approach 3

[0028] Specific implementation mode three: as Figure 1~Figure 3 , Figure 5 and Figure 6 As shown, a three-segment body type hexapod robot that integrates transportation and operation functions described in the second embodiment, the driver of the leg-driven joint 17 is a conventional motor; the linear drive of the leg-driven joint 2 19 The linear driver 26 of the driver 25 and the leg-driven joint three 21 is a hydraulic driver.

[0029] Specific implementation mode three: as figure 1 , figure 2 , Figure 4~Figure 6 As shown, a three-segment body type hexapod robot with integrated transportation and operation functions described in the second or third specific embodiment, the left front leg 4 and the right front leg 7 have the same structure, and both include leg drive joints 4 27, Base section two 28, leg driving joint five 29, thigh two 30, leg driving joint six 31, calf two 32, leg passive joint seven 33, foot two 34, leg driving joint eight 35 and pawl 36; describ...

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Abstract

The invention discloses a three-section machine body type hexapod robot with the transportation function and the operation function fused, and belongs to the technical field of robots. The problems that the rigid machine body structure of an existing hexapod robot is fixed and the function of the robot is single are solved. A front trunk is connected with a middle trunk in a rotating mode through front driving joints, the front trunk and linear drivers of the front driving joints are hinged, and the linear drivers of the front driving joints are hinged to the middle trunk. The middle trunk is connected with a rear trunk in a rotating mode through middle driving joints, the middle trunk and linear drivers of the middle driving joints are hinged, and the linear drivers of the middle driving joints are hinged to the rear trunk. A self-discharging tipping bucket is connected with the middle trunk in a rotating mode through rear driving joints, the self-discharging tipping bucket and linear drivers of the rear driving joints are hinged, and the linear drivers of the rear driving joints are hinged to the middle trunk. A front left leg and a front right leg are connected with the front trunk, a middle left leg and a middle right leg are hinged to the middle trunk, and a rear left leg and a rear right leg are hinged to the rear trunk. The hexapod robot is high in topographical change adaptive capacity and high in motion flexibility and stability.

Description

technical field [0001] The invention relates to a hexapod robot, belonging to the technical field of robots. Background technique [0002] Nearly half of the earth's ground is impassable to traditional wheeled and tracked vehicles, but legged animals can walk freely on it. After 3.5 billion years of survival of the fittest, most land animals have evolved into a footed walking mode to survive in complex and changeable environments. Compared with ground movement methods such as wheeled and crawler-based, foot-based walking can choose non-continuous support points, has strong terrain adaptability and obstacle-surmounting ability, and the moving direction can be adjusted in all directions, with good maneuverability. Therefore, many researchers are exploring the theory and practice of walking exercise. Representative legged robots include BigDog, AlphaDog and Wildcat of Boston Dynamics, ATHLETE developed by NASA-JPL, TITAN series legged robots developed by Tokyo Institute of Te...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
Inventor 邓宗全刘逸群高海波丁亮王冠宇李满天宋杨
Owner HARBIN INST OF TECH
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