Miniature six-legged robot

A robot and miniature technology, applied in the field of robotics, can solve the problems of a large number of power devices, a large number of degrees of freedom of a crawling mechanism, and difficulty in miniaturizing a robot, and achieve the effect of a simple implementation method and few degrees of freedom.

Pending Publication Date: 2019-04-12
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] 1. The crawling mechanism has many degrees of freedom, resulting in a large number of power devices, making it difficult to miniaturize the robot
[0005] 2. The implementation method of turning is complicated

Method used

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  • Miniature six-legged robot
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  • Miniature six-legged robot

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Embodiment Construction

[0025] The present invention will be further described below in conjunction with accompanying drawing.

[0026] The invention provides a miniature six-legged robot, such as figure 1 , figure 2 shown. The six-legged robot includes a motor 1, a frame 2, a crank 3, an intermediate shaft 4, a connecting rod 5, a rocker 6, a steering gear 7, and a weight 8. The motor 1 is fixed on the frame 2. When the six-legged robot is stationary on the horizontal plane, the axis of the output shaft of the motor 1 is perpendicular to the longitudinal axis of the six-legged robot and parallel to the horizontal plane. Gears are fixed on the output shaft of the motor 1 . motor 1 as image 3 As shown, rack 2 as Figure 4 shown.

[0027] The crank 3 is connected to the frame 2 through the first complete rotation pair, and the axis of the first complete rotation pair is parallel to the axis of the output shaft of the motor 1 . crank 3 as Figure 5 shown. Gears are fixed on the crank 3, and th...

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PUM

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Abstract

The invention provides a miniature six-legged robot comprising a motor, a frame, a crank, an intermediate shaft, a connecting rod, a rocker, a steering gear and a heavy object. The base of the steering gear is fixed on the frame; the steering gear can drive the heavy object to move; and the heavy object can be an object like a battery carried by the six-legged robot. The position of the center ofgravity of the six-legged robot can be changed by moving the heavy object. When the six-legged robot crawls on the ground and the center of gravity is located at the left side of the longitudinal axisof the six-legged robot, the average friction force between the left leg and the ground is large, the left leg slides little on the ground, and the six-legged robot turns to the right; and when the center of gravity is located at the right side of the longitudinal axis of the six-legged robot, the average friction between the right leg and the ground is large, the right leg slides little on the ground, and the six-legged robot turns to the left. According to the invention, the crawling mechanism has less freedom and the six legs are driven by using one motor; the miniaturization is implemented easily; and the turning realization method is simple.

Description

technical field [0001] The invention relates to the field of robots, in particular to a miniature six-legged robot. Background technique [0002] The development of robotics technology has promoted the application of robots in various fields, and in some cases, robots have become indispensable equipment. When encountering uneven terrain, the application of wheeled robots and tracked robots is limited. Some animals walk in a way that adapts to uneven terrain, and legged robots are robots that adopt the way animals walk. A variety of legged machines have been developed, such as the "RHex" robot developed by Boston Dynamics. [0003] In the prior art, the legged robot has the following problems: [0004] 1. The crawling mechanism has many degrees of freedom, resulting in a large number of power devices, making it difficult to miniaturize the robot. [0005] 2, the realization method of turning is complicated. Contents of the invention [0006] In order to solve the probl...

Claims

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Application Information

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IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 沈欢吉爱红冯卓群徐杰王尤迪王伟胡捷李力贺伟
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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