Reconfigurable hexapod robot device

A technology of hexapod robot and revolving joint, applied in the field of robotics, can solve problems such as poor climbing ability, low carrying capacity, and insufficient obstacle-crossing ability, and achieve improved walking stability, wide application range, and strong carrying capacity. Effect

Pending Publication Date: 2019-05-10
NANCHANG UNIV
View PDF9 Cites 5 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, its structure is only a single hexapod robot, which has poor reconfigurability, weak climbing ability, insufficient obstacle surmounting ability, low walking stability, and low carrying capacity, which affects the development and practical application of hexapod robots. , hexapod robots have not been well developed and applied

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Reconfigurable hexapod robot device
  • Reconfigurable hexapod robot device
  • Reconfigurable hexapod robot device

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0022] Embodiment 1, see Figure 1-Figure 3 , a reconfigurable hexapod robot device, including left front leg 1, left middle leg 2, left rear leg 3, right front leg 4, right middle leg 5, right rear leg 6 and body 7, wherein: left front leg 1, left Middle leg 2, left rear leg 3, right front leg 4, right middle leg 5 and right rear leg 6 are fixedly installed around the bottom of body 7, left front leg 1, left middle leg 2, left rear leg 3, right front leg 4, right middle The leg 5 and the right rear leg 6 have the same structure, and the left rear leg 3 includes the first rotating pair 8, the connecting rod 9, the second rotating pair 10, the thigh 11, the third rotating pair 12 and the shank 13, and the fixed end of the first rotating pair 8 Fixedly installed at the bottom corner of the body 7, the movable end of the first rotating pair 8 is fixedly connected to one end of the connecting rod 9, the other end of the connecting rod 9 is fixedly connected to one end of the secon...

Embodiment 2

[0030] Example 2, see Figure 4 , a reconfigurable hexapod robot device, wherein: the typical walking gaits of a hexapod robot include triangular gait, quadruped gait and wave gait, and the working principle of its walking is described in triangular gait: the left front leg 1. The left rear leg 2 and the right middle leg 5 do not move, and the lower legs 13 on the left middle leg 2, the right front leg 4 and the right rear leg 6 are respectively lifted up through the third revolving pair 12 and the second revolving pair 10, and the left middle leg The first rotary pair 8 on the leg 2, the right front leg 4 and the right rear leg 6 rotates at the same angle respectively, and is at a certain angle with the body 7, and the shank 13 on the left middle leg 2, the right front leg 4 and the right rear leg 6 passes through the The three rotating pairs 12 and the second rotating pair 10 move down to contact with the ground, the lower leg 13 on the left front leg 1, the left rear leg 2 ...

Embodiment 3

[0032] Example 3, see Figure 5 , a reconfigurable hexapod robot device, the left rear connector and the right rear connector to be connected to the reconfigurable hexapod robot body 7-1 are connected to the reconfigurable hexapod robot body 7-2 The left front connector, the left rear connector, the right front connector, and the right rear connector are to be connected to the left front connector and the right front connector on the body 7-3 of the reconfigurable hexapod robot respectively around the respective fourth rotation pairs in 15 directions. After external rotation of 90°, it is fixed, and then the left front connector, right front connector, left rear connector, and right rear connector on the body 7-2 of the reconfigurable hexapod robot to be connected are respectively connected to the reconfigurable hexapod robot to be connected. The left rear connector and the right rear connector on the body 7-1 are connected with the left front connector and the right front con...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a reconfigurable hexapod robot device. A left front leg, a left middle leg, a left rear leg, a right front leg, a right middle leg and a right rear leg are fixedly mounted around the bottom of a body; the left front leg, the left middle leg, the left rear leg, the right front leg, the right middle leg and the right rear leg are consistent in structure; the fixed end of a first revolute pair is fixedly mounted at one corner of the bottom of the body; the movable end of the first revolute pair is fixedly connected with one end of a connecting rod, the other end of the connecting rod is fixedly connected with one end of a second revolute pair, the other end of the second revolute pair is fixedly connected with one ends of thighs, the other ends of the thighs are fixedly connected with one end of a third revolute pair, and the other end of the third revolute pair is fixedly connected with one ends of shanks. The reconfigurable hexapod robot device has the advantagesof being good in reconfigurability, good in walking stability, high in climbing capacity, high in obstacle crossing capacity, high in bearing capacity, wide in application range and the like.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a reconfigurable hexapod robot device. Background technique [0002] The hexapod mobile robot is a legged motion structure that imitates the movement of multi-legged animals. It has rich gaits and redundant limb structures. Compared with traditional wheeled and tracked mobile robots, it can use discrete ground supports Realize non-contact obstacle avoidance, obstacle crossing and uneven ground movement, with strong adaptability and good movement stability to complex terrain and unpredictable environmental changes. It has important applications in military reconnaissance, emergency rescue and disaster relief, interstellar exploration, anti-terrorist blasting, archaeological exploration, and hilly and mountainous operations. [0003] Chinese invention patent CN103129640A discloses a new type of hexapod robot, including a torso, a mechanical leg, a sensing system and a control syste...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
Inventor 谢冬福罗玉峰石志新
Owner NANCHANG UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap