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Multi-foot modular robot capable of being freely assembled

A robot and modular technology, applied in the field of mobile robots, can solve the problems of complex structure and insufficient obstacle-surmounting ability, and achieve the effect of solving obstacle-surmounting ability.

Pending Publication Date: 2019-02-26
屈娟娟
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Invention patent application number CN201210533928.7 discloses a multi-section swing arm crawler type mine disaster detection robot, which consists of three-section car body, crawler type walking mechanism, front and rear swing arm units, joint modules and power device, and adopts swing arm type crawler walking mechanism, which strengthens the robot's ability to overcome obstacles, but the robot based on the crawler-type walking mechanism still needs to travel on a relatively flat ground.
A multi-section robot with a multi-legged walking mechanism has relatively lower requirements on the ground, but its structure is relatively complex

Method used

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  • Multi-foot modular robot capable of being freely assembled
  • Multi-foot modular robot capable of being freely assembled

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0029] Robot multi-module assembly embodiment

[0030] 1. In this embodiment, the assembly mode of the robot module of the present invention is illustrated by taking the assembly of search and rescue robots after disasters such as earthquakes and fires as an example;

[0031] 2. After the disaster, the general terrain is more complex and there are many obstacles, and some places may need to drill holes for inspection by robots. Therefore, the walking mechanism adopts an attached figure 1 In the crawler and bionic multi-legged composite structure walking mechanism proposed in , the walking foot can be driven by a motor, and the joints of the walking foot are supplemented by springs to increase elasticity;

[0032] 3. Considering the needs of climbing, turning and even drilling, this embodiment takes 4 sections as an example to assemble the robot;

[0033] 4. Section 1: The head of the robot is used for exploration, search and detection. In addition to the power unit of the tra...

Embodiment 2

[0039] Embodiment of multi-joint robot going straight

[0040] 1. Take the 4-section robot in Embodiment 1 as an example to illustrate the process of the multi-joint robot going straight;

[0041] 2. The robot is named as the first section, the second section, the third section, and the fourth section from left to right. It is assumed that the robot needs to move forward at a certain speed v;

[0042] 3. In Example 1, the assembled robot has four sections with the ability to move autonomously. When the robot as a whole moves forward at a speed v, the robot at any one section will move straight at a speed v;

[0043] 4. Taking the robot in the second section as an example, before going straight, the robot has 2 pairs of walking feet on the ground and 2 pairs of walking feet in the air;

[0044]5. When the robot is going straight, the crawler drives the ground walking foot to move in the opposite direction of the forward direction. Because the relative position of the walking f...

Embodiment 3

[0049] Multi-joint robot turning embodiment

[0050] 1. The multi-joint robot needs to turn when it encounters an obstacle in the process of moving forward or backward. This example is used to illustrate the turning process;

[0051] 2. Take the 4-section robot in Embodiment 1 as an example, and name it as the first section, the second section, the third section, and the fourth section from left to right;

[0052] 3. The robot walks from right to left and needs to turn to the right;

[0053] 4. When turning, the left and right steering control devices between the joints of the first and second robots are driven, so that there is an angle between the axes of the first and second robots on the left;

[0054] 5. The upper end of the walking feet of the first and second robot landing on the ground is fixed to the robot body, and the lower end is fixed to the ground. Due to the elastic design of the walking feet, under the action of the steering device, the walking feet undergo el...

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Abstract

The invention belongs to the field of mobile robots, and particularly relates to a multi-foot modular robot capable of being freely assembled. The multi-foot modular robot capable of being freely assembled comprises single-section robot modules, robot walking mechanisms, robot left-right steering devices and robot up-down steering devices, wherein the single-section robot modules are single-section modules which form the multi-section robot; the robot walking mechanisms are of a crawler belt and bionic walking foot composite structure. Advancing and retreating of the robot can be achieved by driving walking feet to move through crawler belts. The robot left-right steering devices are connecting parts making two sections of the robot connected and can swing left and right, so that the robotis adjusted left and right. The robot up-down steering devices are another connecting parts making two sections of the robot connected and can swing up and down, so that the robot is adjusted up anddown.

Description

technical field [0001] The invention belongs to the field of mobile robots, in particular to a multi-legged modular robot that can be assembled freely. Background technique [0002] Since they can perform dangerous tasks instead of humans and enter dangerous sites, robots are currently playing an important role in disaster detection, special operations and other fields. However, in some complex environments, ground obstacles in search and rescue such as earthquakes and fires have become one of the main reasons hindering the application of robots. [0003] Considering the robot's ability to overcome obstacles, snake-like bionic robots and spider bionic robots have gained attention. Snake-shaped robots generally imitate the movement of snakes, using the robot body as a walking mechanism component. The movement control is complex and consumes a lot of power. Generally, it needs to be used near a power supply or with wires. Multi-legged bionic robots generally use multi-legged ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 屈娟娟
Owner 屈娟娟
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