Metamorphic mechanical legs

Abstract

The invention discloses a transforming type mechanical leg which comprises a base and an elastic leg body connected with the base, wherein the initial state of the elastic leg body is straight. The transforming type mechanical leg further comprises a transforming driving mechanism used for changing the elastic leg body to the arc state. By adopting the The transforming type mechanical leg, the free switching between the straight state and the arc state of the mechanical leg can be automatically realized; the manual intervention when a robot adopting the mechanical leg is switched under amphibious operation modes is avoided; the elastic leg body is under the straight state under a natural initial condition; when the arc state is switched, the transforming driving mechanism is used for driving the switching; when the elastic leg body is converted to the straight state from the arc state, the elastic leg body can be quickly and conveniently converted under the self-elasticity effect; the manual leg exchanging is not required when the robot is switched under the amphibious operation modes and the switching is more convenient; the transforming driving mechanism can be used for increasing the structure strength of the elastic leg body and increasing the land obstacle-crossing ability.

Description

technical field [0001] The invention relates to the field of robots, in particular to a metamorphic mechanical leg. Background technique [0002] Amphibious robots, as an effective technical means that can carry out various tasks on land, in water, and in the transition zone between water and land, are attracting the research and exploration of scientific and technological personnel from more and more countries around the world. [0003] In the prior art, an amphibious hexapod robot with imitative insect legs has been designed abroad. Its hexapods are C-shaped round rods made of polyoxymethylene resin. The movement on flat ground has the functions of visual scanning, map survey and positioning, and can perform various complex tasks on land. However, due to the lack of an effective underwater driving mechanism, it can only crawl in a wading environment; there is also a four-dimensional The footed amphibious robot realizes three postures of running posture, walking posture an...

AI Technical Summary

Problems solved by technology

[0003] In the prior art, an amphibious hexapod robot with imitative insect legs has been designed abroad. Its hexapods are C-shaped round rods made of polyoxymethylene resin. The movement on flat ground has the functions of visual scanning, map survey and positioning, and can perform various complex tasks on land. However, due to the lack of an effective underwater driving mechanism, it can only crawl in a wading environment; there is also a four-dimensional The footed amphibious robot realizes three postures of running posture, walking posture and swimming posture through the movement coordination and posture adjustment of four legs. The amphibious robot uses arc-shaped legs to move on the ground, and replaces the arc-shaped legs with flexible webs in the water to realize swimming and snorkeling in the water. It requires two sets of mobile drive odd and even strands and needs to be replaced manually to achieve the matching of the amphibious environment

Some people in China have applied for a patent document for an amphibious robot driven by a foot-web compound, which uses a set of foot-web compound leg mechanisms driven by rope transmission, and can realize land wheel legs by changing the state of the foot-web in the transitional environment of water and land. However, the switching method is complicated and not easy to realize, and the height of the mechanical legs cannot be well guaranteed on land, resulting in the decline of the robot's ability to overcome obstacles on land.

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