Rubik's cube eight-legged metamorphic robot

Abstract

The invention belongs to the technical field of robots, and relates to a magic cube type eight-foot metamorphic robot. The magic cube type eight-foot metamorphic robot comprises a spherical outer body, a center inner body and walking execution supporting legs. The spherical outer body comprises six axis driving assemblies, twelve seamed edge function assemblies and eight vertex angle branch assemblies, the axis driving assemblies, the seamed edge function assemblies and the vertex angle branch assemblies are interlocked to form a space six-circle orthogonal bearing inside the spherical outer body in an inlay mode, and the spherical outer body realizes own relative motion reconstruction by means of the space six-circle orthogonal bearing. Visual devices are arrange on the outer surfaces ofthe axis driving assemblies, motors are arranged in the axis driving assemblies, control devices and communication devices are arranged on the outer surfaces of the seamed edge function assemblies, and supporting leg connecting ends used for connecting the walking execution supporting legs are arranged on the outer surfaces of the vertex angle branch assemblies. The spherical outer body covers theexterior of the center inner body, the spherical outer body can be rotatably connected with the center inner body through the axis driving assemblies, and a battery is arranged in the center inner body.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a Rubik's cube eight-legged metamorphic robot. Background technique [0002] The main movement mode adopted by mobile robots is wheeled movement, but wheeled movement is the product of the emergence of flat roads, it is difficult to adapt to complex terrain, the ability to overcome obstacles is poor, and the application range is very limited. With the increasingly wide range of robot applications, mobile robots will gradually be used in exploration, rescue, military activities, etc. in unknown unstructured environments with harsh conditions and complex terrains that humans cannot penetrate to serve humans. The unknown unstructured environment requires that the mobile robot must have strong terrain adaptability, efficient movement mode, autonomous movement ability, multi-functional working mode and the ability to quickly reconfigure deformation. [0003] In order to expand the appli...

AI Technical Summary

Problems solved by technology

[0004] However, the existing foot-type walking mechanism also has its own unavoidable shortcomings, that is, its own stability problem.

The control of biped robots is very complicated, resulting in poor motion stability; due to its own gait characteristics, quadruped robots are more likely to lose stability when walking; existing hexapod and eight-leg robots are prone to large structures due to too many branches. , resulting in poor stability

Almost all existing legged walking robots have their outriggers distributed on the same plane, which results in very limited movement space for each outrigger and seems very crowded (there are many legs)

[0005] Poor stability is an inherent shortcoming of existing legged robots. The current solution is only to improve the control speed and precision, which belongs to a "prevention" solution, that is, before the center of gravity of the robot deviates from the controllable range, control each support Leg posture and gait to adjust the center of gravity to a controllable range is a complex real-time monitoring and adjustment process

Once the center of gravity cannot be recovered or is impacted by an external force, the robot falls sideways or on its back. Since the outriggers are distributed on a plane, it will not be able to stand up again, and it will not be able to complete the work autonomously. This is a big practical problem.

Even though the outriggers of individual legged robots are distributed on multiple planes, the relative relationship between the outriggers is fixed, and the outriggers do not cover the entire space, and there is also the problem of not being able to get up after falling.

In addition, the existing robots also lack the ability of reorganization and deformation and the characteristics of sharing hands and feet.

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