Amphibious multi-legged robot with metamorphic mechanical legs

Abstract

The invention discloses an amphibious multi-legged robot with metamorphic mechanical legs. The robot comprises a body and at least two metamorphic mechanical legs parallelly arranged on both sides of the body. Each metamorphic mechanical leg comprises a base in transmission matching with a power component, and an elastic leg body connected with the base, and the initial form of each elastic leg body is straight; each metamorphic mechanical leg also comprises a metamorphic driving mechanism used for making the corresponding elastic leg body to be metamorphosed to form an arc-shaped form; the mechanical legs can automatically perform free switching between the straight form and the arc-shaped form, thus manual intervention required when the robot employing the mechanical leg conducts switching in the amphibious operation mode is avoided, the elastic leg bodies are straight under the natural initial state, the elastic leg bodies are driven by the metamorphic driving mechanism to be switched into the arc-shaped form when needed, rapid switching can be realized, and convenience and rapidness are realized; the legs do not need to be changed manually when the robot conducts switching in the amphibious mode, thereby being more convenient, furthermore, the metamorphic driving mechanisms can improve the structure strength of the elastic leg bodies, and thus the land obstacle ability is improved.

Description

technical field [0001] The invention relates to the field of robots, in particular to an amphibious multi-legged robot with metamorphic mechanical legs. 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 o...

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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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