Reconfigurable multi-legged robot
A multi-legged robot and motor support technology, applied in the field of reconfigurable multi-legged robots, can solve the problems of multi-legged robot structure and control complexity, etc.
Inactive Publication Date: 2018-04-27
CHANGSHA ZHANSHUO XUANXING INFORMATION TECH CO LTD
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Problems solved by technology
[0003] The purpose of the present invention is to overcome the above-mentioned shortcoming, provide a kind of reconfigurable multi-legged robot, it solves the complexity of the structure and control of multi-legged robot, the stability in the robot walking process, and the adaptability to different application environments etc. question
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[0011] combined with figure 1 to attach Figure 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 res...
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The invention relates to a reconfigurable multi-legged robot. The reconfigurable multi-legged robot is composed of leg units and connecting boards, the multiple leg units are arranged, and any two legunits are connected through the corresponding connecting board, so that the multi-legged robot in different forms is obtained. In each leg unit of the reconfigurable multi-legged robot, a single motor drives leg rods on the two sides to conduct walking actions alternately. When the reconfigurable multi-legged robot walks, the multiple leg rods support the ground at any moment, and the stability of the robot is guaranteed. Through control over the rotation speeds and rotation directions of the motors of the different leg units, the robot moves forwards and backwards and makes a turn. The reconfigurable multi-legged robot is simple in structure, easy to control, high in motion stability and adaptability to different environments and quite high in practical value in the fields such as military affairs, exploration and entertainment.
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 adopt the form of multi-degree-of-freedom mechanism for most of the single-foot structure, and control the forward, backward, and turning actions 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...
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CPCB62D57/032
Inventor 不公告发明人
Owner CHANGSHA ZHANSHUO XUANXING INFORMATION TECH CO LTD