Insect-grade leg module structure and foot-type robot having the same

CN118372903BActive Publication Date: 2026-11-03NAT UNIV OF DEFENSE TECH
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Patent Information

Application Number
CN202410657425.3
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2024-05-25
Publication Date
2026-11-03
Estimated Expiration
2044-05-25

AI Technical Summary

Technical Problem

Existing insect-level micro-crawling robots have low load capacity, poor stability, and are difficult to control. Existing serial leg structures have poor load capacity, large error accumulation, and difficulty in guaranteeing transmission accuracy. Moreover, existing biomimetic solutions often sacrifice motion performance or stealth.

Method used

It adopts a modular dual-parallel leg structure, combined with an integrated piezoelectric actuator, and utilizes the lever amplification principle and planar four-bar linkage design to achieve high load-bearing capacity and flexible movement. The highly integrated modular design facilitates assembly and maintenance.

Benefits of technology

It improves the robot's load-bearing capacity and movement flexibility, reduces errors, enhances terrain adaptability and control precision, has a compact structure, is easy to maintain, and is suitable for various insect-level micro-crawling robot structures.

✦ Generated by Eureka AI based on patent content.

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Abstract

An insect-level leg module structure and a foot-type robot having the same, comprising an integrated leg structure top end fixed rod, a connecting piece structure, a leg transmission structure, a shank connecting rod and a foot bottom support; the integrated leg structure top end fixed rod is hinged with the left upper leg connecting rod of the leg transmission structure through a third hinge part; the integrated leg structure top end fixed rod is hinged with the right upper leg connecting rod of the leg transmission structure through a seventh hinge part; the connecting piece structure is fixedly connected with the leg transmission structure through a connecting piece bottom end fixed rod. One end of the shank connecting rod is hinged with the left lower leg connecting rod of the leg transmission structure; the other end of the shank connecting rod is hinged with the foot bottom support through a fifth hinge part. The present application has the advantages of simple structure, easy control, strong bearing capacity, strong terrain adaptability, flexible movement and the like.
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Citation Information

Patent Citations

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