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Gecko-like robot and mechanical structure thereof

A mechanical structure and robot technology, applied in motor vehicles, toys, automatic toys, etc., can solve the problems of wall-climbing robots falling off walls, loss, energy waste, etc., and achieve the effect of ensuring strength, enhancing stability, and reducing overall weight.

Inactive Publication Date: 2010-10-27
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Application Information

AI Technical Summary

Problems solved by technology

During the movement of the leg mechanism robot, when the two legs are in the supporting phase, the system is in an overdriven state, and there is often an interaction force between the supporting phase feet, which may cause relative sliding between the supporting phase feet of the robot moving on the ground, or The wall-climbing robot will fall off the wall due to the relative sliding between the supporting phases, causing serious losses; and the driving steering gear will cause energy waste to overcome the effect of this force
While the above robot, does not come up with a good solution to this kind of problem

Method used

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  • Gecko-like robot and mechanical structure thereof
  • Gecko-like robot and mechanical structure thereof
  • Gecko-like robot and mechanical structure thereof

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Embodiment Construction

[0025] Such as figure 1 and figure 2 As shown, the robot consists of a fuselage, four identical legs, and a tail 9. A single leg consists of a robot foot 2, a two-dimensional force sensor 3, a shank link 8, a shank joint 4, a thigh link 6, a hip joint 7 and three servos for controlling joint motion (hip joint leg lifting servo 11, hip joint Swing leg steering gear 12, knee joint steering gear 13) form. What this example adopts is the fuselage of front and rear symmetry, and promptly front frame 1 and rear frame are connected by fuselage connecting rod 10, form the robot body part of front and rear symmetry. A single leg of the robot has three degrees of freedom, each of which is controlled by a servo. Therefore, a total of 12 steering gears control the movement of the entire robot. At the same time, a total of four servo positions are reserved on the fuselage to expand the motion control of the robot's feet.

[0026] Such as image 3 , Figure 4 , Figure 5 , Figure...

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Abstract

The invention discloses a gecko-like robot and a mechanical structure thereof, belonging to the field of special robots. The gecko-like robot is characterized by comprising a robot body frame, four limbs arranged on the robot frame and a passive tail, wherein each limb consists of a hip joint with two degrees of freedom, a thigh connecting rod, a knee joint with one degree of freedom, a crus, a passive ball hinge ankle joint with three degrees of freedom and a foot in sequence; the hip joint with two degrees of freedom consists of a hip joint leg-lifting steering engine (11) for controlling the limb to lift or fall and a hip joint leg-swinging steering engine (12) for controlling the limb to swing back and forth; and the knee joint with one degree of freedom consists of a knee joint steering engine (13). In the invention, the position of the degree of freedom on each leg can be reasonably arranged and the feedback control of a force sensor is added, so that the robot has favorable motion ability on the ground and the wall surface.

Description

technical field [0001] The invention relates to a gecko imitation robot mechanical structure and a robot thereof, which belong to the field of special robots. It can be used in anti-terrorism, search and rescue, narrow space detection, security, aerospace and urban service industries and other fields. technical background [0002] Robots in unstructured environments have widespread and urgent needs. Among them, the 3-dimensional space barrier-free motion robot (referred to as 3DOF robot) is the most technically difficult, has the highest technological content, and has the most urgent demand. At present, the mechanism of the 3DOF robot motion system is divided into: wheel type, such as a non-contact magnetic adsorption wheeled wall-climbing robot disclosed in Chinese patent CN1739925; crawler type, such as the magnetic adsorption crawler type based on synchronous toothed belt disclosed in Chinese patent CN1709654 Wall-climbing robot; rod type, such as the five-legged wall-c...

Claims

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Application Information

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IPC IPC(8): B62D57/024A63H11/20
Inventor 戴振东李宏凯张昊俞志伟
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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