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A multi-legged reversible crawling robot based on smart materials
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A technology of crawling robots and smart materials, applied in the field of robotics, can solve the problems of poor obstacle-crossing performance of crawling robots, and achieve strong obstacle-crossing performance and prevent dumping
Active Publication Date: 2020-06-16
HARBIN UNIV
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Abstract
Description
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Problems solved by technology
However, the crawling robot has poor obstacle-surmounting performance
Method used
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specific Embodiment approach 1
[0031] Combine below Figure 1-11 To illustrate this embodiment, the present invention relates to a robot, more specifically a multi-legged reversible crawling robot based on smart materials, including a flat plate 1, a vertical seat 104, a T-shaped chute 106, a horizontal bar 2, a middle Axle 202, spacer ring 203, vertical leg column 4, side slide seat 5, motor frame 501, motor IV502, convex plate 503, turning block 6, motor V601, inclined column 602 and minor axis 603, the present invention can be in multiple Switch back and forth between feet, with strong obstacle-crossing performance.
[0032]The front and rear sides of the flat panel 1 are fixedly connected with uprights 104, the two uprights 104 are provided with T-shaped chute 106, the middle part of the horizontal bar 2 is fixedly connected with a central axis 202, and the central axis 202 is rotatably connected to the flat panel. 1, the central axis 202 is fixedly connected with the limit ring 203, the limit ring 203...
specific Embodiment approach 2
[0034] Combine below Figure 1-11 To illustrate this embodiment, the multi-leg reversible crawling robot based on smart materials also includes a motor I101, a gear I102 and a gear III201, the upper end of the central shaft 202 is fixedly connected to the gear III201, and the upper end of the flat panel 1 is fixedly connected to the motor I101, The output shaft of the motor I101 is fixedly connected with a gear I102, and the gear I102 is meshed with the gear III201 for transmission. When the output shaft of the motor I101 rotates, it can drive the gear I102 to rotate, and when the gear I102 rotates, it can drive the horizontal bar 2 to rotate relative to the flat panel 1 with the axis of the central axis 202 as the axis, so as to facilitate the control and change the forward direction of the robot.
specific Embodiment approach 3
[0036] Combine below Figure 1-11 To illustrate this embodiment, the multi-leg reversible crawling robot based on smart materials also includes a gear II105, a motor base 107, a motor II108 and a rack 401, and vertical racks 401 are arranged on the two vertical leg columns 4. , the two vertical bases 104 are fixedly connected with a motor base 107, the two motor bases 107 are fixedly connected with a motor II108, the output shafts of the two motors II108 are fixedly connected with a gear II105, and the two gears II105 are respectively connected with the two A gear rack 401 is engaged for transmission. When the output shafts of the two motors II108 rotate, they can respectively drive the two gears II105 to rotate. When the two gears II105 rotate, they drive the two racks 401 to slide vertically, and then control the two vertical leg columns 4 to lift.
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Abstract
The invention relates to a robot, in particular to a multi-foot reversible crawlingrobot based on intelligent materials. The robot can switch back and forth among multiple feet, and has strong obstacle crossing performance. The robot is characterized in that the front and rear sides of a flat plate are fixedly connected with vertical seats, and the two vertical seats are provided with T-shaped sliding grooves; a central shaft is fixedly connected to the middle of a transverse strip, and the central shaft is rotatably connected to the center of the flat plate; a limiting ring is fixedly connected to the central shaft, and the limiting ring and the transverse strip are correspondingly located on the upper side and the lower side of the flat plate; two vertical leg columns can slide vertically on the two T-shaped sliding grooves correspondingly; side sliding seats are arranged at the left and right ends of the transverse strip correspondingly, and convex plates are fixedly connected to the outer sides of the two side sliding seats; motor frames are fixedly connected to the two convex plates, motors IV are fixedly connected to the two motor frames, output shafts of the two motors IV penetrate through the two convex plates correspondingly, and rotating blocks are fixedly connected to the output shafts of the two motors IV; and short shafts are fixedly connected to the upper ends oftwo inclined columns.
Description
technical field [0001] The invention relates to a robot, in particular to a multi-leg reversible crawling robot based on intelligent materials. Background technique [0002] The application number is CN201510254700.8, which discloses a multifunctional crawling robot for ship facade operations. The invention discloses a multifunctional crawling robot for ship facade operations, including a crawling robot and a positioning unit; Magnetic adsorption, while using the crawler structure to achieve flexible contact with the surface of the ship, using a servomotor drivesystem to ensure the stable movement and steering of the equipment; the crawling robot is equipped with a freely rotatable operating platform, and clamps a variety of working equipment through multi-functional fixtures. 360 degree free steering. During the traveling process, the crawling robot automatically locates and corrects the deviation through the laser range finder and gravity sensor in the positioning unit,...
Claims
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Application Information
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