Legged landing inspection robot

A robot and leg-type technology, applied in the field of leg-type landing patrol robots, can solve the problems such as the difficulty of bearing huge impact force in the landing buffer stage, and the low walking flexibility of the lander, and achieve strong carrying capacity, strong obstacle-surmounting ability, and strong attitude. The effect of the ability to adjust

Inactive Publication Date: 2021-01-29
SHANGHAI JIAOTONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The prior art landers with the functions of attitude adjustment and walking have the problems of low walking flexibility and difficulty in withstanding the huge impact force during the landing buffer stage

Method used

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  • Legged landing inspection robot
  • Legged landing inspection robot
  • Legged landing inspection robot

Examples

Experimental program
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Embodiment Construction

[0024] Such as figure 1 As shown, this embodiment includes: a fuselage 100 and four sets of mechanical legs 200 arranged around the side walls of the fuselage. The mechanical legs 200 can flexibly adjust the posture and relieve the impact of landing.

[0025] Such as figure 2 and Figure 4 As shown, the mechanical leg 200 includes: a parallel mechanism 210 and a foot pad 230, which are connected by a ball pair.

[0026] The parallel mechanism 210 includes: a set of supporting chains 211 containing kinematic pairs, two sets of supporting chains 212-213 and a set of transmission branch chains 214, wherein: the two sets of supporting chains 212-213 are respectively located in the supporting chains 211 containing kinematic pairs. On both sides, the transmission branch chain 214 is connected with the support chain 211 including the kinematic pair, and each of the above chains is connected with the fuselage 100 through the rotating pair.

[0027] The supporting chain 211 contain...

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Abstract

A legged landing patrol robot, including: a fuselage and multiple sets of mechanical legs arranged around the side wall of the fuselage, the mechanical legs can flexibly adjust the posture and relieve the impact of landing; the mechanical legs include: a parallel mechanism and foot pads, The two are connected by a ball pair; the parallel mechanism includes: a set of supporting chains with kinematic pairs, two sets of supporting chains and a set of transmission branch chains, wherein: the two sets of support chains are respectively located on both sides of the support chains containing kinematic pairs, and the transmission branch chains It is connected with the support chain containing the kinematic pair. The invention adopts a leg structure, which has a stronger obstacle-surmounting ability than a wheel or crawler structure; the legs adopt a parallel structure, which has a stronger load-carrying capacity than a series leg structure; the branch chain of the parallel mechanism above the leg It can realize the three-dimensional space movement of the end points of the legs and feet; the passive ball pair under the legs has the ability to adapt to local terrain; when the whole mechanism is in displacement detection, the fuselage has three-dimensional movement ability and three-dimensional rotation ability, which has a strong ability to adjust posture.

Description

technical field [0001] The invention relates to a technology in the field of walking robots, in particular to a legged landing inspection robot. 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. The prior art landers with the functions of attitude adjustment and walking have the problems of low walking flexibility and difficulty in withstanding huge impact force during the landing buffer stage. With human beings' requirements for the construction of extraterrestrial bases in the future, it is becoming more and more important to propose a robot that integrates the five functions of folding and unfolding, landing buffer, terrain adaptation, attitude adjustment and walking displacement to expand the detection range of extraterrestrial bodies. more and more urgent. Contents of the invention [0003] Aiming at the above-mentioned ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B64G1/16B62D57/032
CPCB62D57/032B64G1/16
Inventor 林荣富郭为忠
Owner SHANGHAI JIAOTONG UNIV
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