Novel suspension-legged robot

Abstract

The invention discloses a novel suspension-legged hexapod robot with legs and the body connected by a sliding pair to enable the legs to slide along guide rails around the body. The novel suspension-legged robot specifically comprises an upper body plate, a lower body plate, an upper body circular groove guide rail, a lower body circular groove guide rail and a body fixed rack wheel; four steering engines are mounted on the six legs, one of the steering engines drives a pinion to be meshed with the body fixed rack wheel, and when the pinion rotates, the legs are driven to move circumferentially along the body circular guide rails around the body; four bull-eye bearings are mounted on the legs and are inserted into grooves of the body circular guide rails to cooperatively achieve the function of fixing the legs, and the legs are allowed to slide along the guide rails; the rest three steering engines respectively drive two degrees of freedom of hip joints and one degree of freedom of knee joints. When the two legs of the robot are operated, the rest four legs can ensure that the center of gravity of the robot is still constantly located in a support polygon when the only four legs are used for walking after reassignment of location, and simultaneous performing of operation and walking is realized.

Description

technical field [0001] The invention belongs to the field of multi-legged walking robots, and in particular relates to a novel suspension-legged hexapod robot. The connection positions of the six legs and the robot body can be rearranged according to different requirements. Background technique [0002] Service robot technology is a strategic high technology that integrates multiple disciplines such as machinery, information, materials, and biomedicine. It plays an important supporting and leading role in the development of related technologies and industries. It is one of the most active fields of cutting-edge high-tech research today. one. Among them, the legged mobile robot formed by installing the manipulator on a legged mobile platform has the characteristics of strong adaptability and high flexibility, and is the most important research object in the research of service robots. At this stage, legged mobile robots have great demand in industries such as cutting and wel...

AI Technical Summary

Problems solved by technology

However, the biggest difficulty in achieving leg-arm fusion is that after the multi-legged machine uses the legs as arms, the remaining supporting legs cannot stably support the robot to walk, because the distribution of the legs cannot meet the stability requirements.

At present, most of the hexapod walking robots have an insect-like structure, with three legs on the left side and the other three legs on the right side. If the robot is required to complete the operation task, if the two front legs are lifted, the remaining four legs cannot move due to the limited range of motion. To stably support the robot to walk, it is necessary to install an operating arm on the back or front of the robot

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