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A Legged Patrolling Robot with Separate Landing and Walking Functions

A function-separation, robot technology, applied in motor vehicles, transportation and packaging, etc., can solve the problems of limited carrying capacity and low flexibility of robots, and achieve the effect of strong carrying capacity, strong attitude adjustment ability, and strong obstacle crossing ability.

Inactive Publication Date: 2020-12-08
SHANGHAI JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Most of the inspection robots in the prior art are wheel-type, crawler-type and leg-foot type. Among them, the leg-foot robot is mostly a series mechanism, and the carrying capacity of this type of robot is limited, and it is difficult to withstand a huge impact force
Robots with posture adjustment and walking functions have the problem of low flexibility when walking

Method used

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  • A Legged Patrolling Robot with Separate Landing and Walking Functions
  • A Legged Patrolling Robot with Separate Landing and Walking Functions
  • A Legged Patrolling Robot with Separate Landing and Walking Functions

Examples

Experimental program
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Effect test

Embodiment Construction

[0022] Such as figure 1 As shown, this embodiment includes: a fuselage 100 and a plurality of sets of mechanical legs 101 arranged around the side walls of the fuselage to realize overall three-degree-of-freedom movement, and the mechanical legs 101 can separate the landing function from the walking function.

[0023] A fuselage rod 200 is provided between the fuselage 100 and the mechanical leg 101 .

[0024] Such as figure 2 and image 3 As shown, each set of mechanical legs 101 includes: a parallel mechanism 201 and foot pads 202 connected by ball pairs.

[0025] The parallel mechanism 201 includes: a set of landing chains A, a set of walking chains B and two sets of matching chains C, wherein: two sets of matching chains C-D are respectively located on both sides of the landing chain A and connected to the landing chain A The support base 203 is connected by a ball pair to realize three-degree-of-freedom rotation relative to the support base 203. The walking chain B is...

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Abstract

The invention discloses a leg-type patrol robot with separated landing and walking functions. The leg-type patrol robot comprises a body and a plurality of sets of mechanical legs surrounding the sidewall of the body and separating the landing function from the walking function, wherein body rod members are arranged between the body and the mechanical legs; each set of mechanical legs comprise aparallel mechanism and a foot pad connected by a ball pair. The leg-type patrol robot adopts a leg structure, which has stronger obstacle climbing ability than a wheel or crawler type structure; the legs adopt a parallel structure, which has stronger bearing capacity than a series leg structure; branched chains of the parallel mechanisms above the legs can realize three-dimensional space movementof leg and foot end points; the passive ball pairs under the legs have local terrain adaptability; the body has three-dimensional movement ability and three-dimensional rotation ability when the wholerobot carries out displacement detection, and thus has strong posture adjusting ability.

Description

technical field [0001] The invention relates to a technology in the field of walking robots, in particular to a legged patrol robot with separate landing and walking functions. Background technique [0002] The detection of extraterrestrial objects is an important way for human beings to develop and utilize space resources, and to innovate in space science and technology. Patrol robots can replace humans to enter areas that are difficult for humans to set foot in, and protect the safety of human life and property. Most of the inspection robots in the prior art are wheel-type, crawler-type and leg-foot type. Among them, the leg-foot type robots are mostly series mechanisms. The carrying capacity of this type of robot is limited, and it is difficult to withstand huge impact forces. Robots with posture adjustment and walking functions have the problem of low flexibility when walking. With the requirements of human beings for the base construction of extraterrestrial bodies in...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 郭为忠林荣富彭泽坤
Owner SHANGHAI JIAOTONG UNIV
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