Six-foot robot with eccentric wheel legs

A hexapod robot and eccentric wheel technology, applied in the field of mobile robots, can solve the problems of bulky body, high cost, complicated control circuit, etc., and achieve the effects of good controllability, good stability and simplified transmission mechanism

Inactive Publication Date: 2011-06-29
SOUTHWEST UNIVERSITY
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  • Application Information

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Problems solved by technology

The advantages of this method are high controllability and good flexibility, which ensures the terrain ad...

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  • Six-foot robot with eccentric wheel legs
  • Six-foot robot with eccentric wheel legs
  • Six-foot robot with eccentric wheel legs

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Embodiment Construction

[0026] see figure 1 , figure 2 with image 3 , the hexapod robot with eccentric wheel legs proposed by the present invention includes a fuselage frame, an eccentric wheel 15, a motor 9, a power supply 19, a photoelectric encoder 21, a control circuit and a remote controller 28. Eccentric wheel 15 is walking leg, is installed in fuselage frame both sides; Motor, power supply 19, control circuit are all installed in fuselage frame inside; Remote controller 28 is separated from robot body and is held by robot operator.

[0027] Wherein: the optimal structure of the fuselage frame is as follows: it is composed of a top plate 2, a bottom plate 1 and six connecting plates 10, and is flat and long as a whole, which not only reduces weight, but also has good stability. The structure of the top plate 2 and the bottom plate 1 are the same, they are both rectangular, with 6 grooves 11 evenly distributed on both sides, corresponding to the installation positions of the 6 eccentric whee...

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Abstract

The invention provides a six-foot robot with eccentric wheel legs, which uses eccentric wheel structures as legs, wherein a machine body structure is symmetrically designed and is flat, long and narrow. The robot comprises a machine body frame, eccentric wheels, a motor, a power source, a photoelectric encoder, a control circuit and a remote controller. The robot can overcome power consumption and severe oscillation of a conventional leg structure, and ensure the function integrity of moving forwards and backwards as well as steering leftwards and rightwards. The robot is strong in ground surface adaptability; the relatively wide eccentric wheel legs are suitable for even rigid ground surface, and are also capable of walking on the ground surfaces such as lawn, sandy beach, broken stone and the like; and the robot is strong in barrier detouring capability and is capable of easily detouring a barrier that is slightly lower than the machine body.

Description

technical field [0001] The invention belongs to the field of mobile robots, and in particular relates to a walking mechanism of a multi-legged robot, in particular to a hexapod mobile robot. Background technique [0002] Multi-legged robot is an important branch in the field of mobile robots. Among them, the walking mechanism and gait of hexapod bionic hexapod insects, with its strong terrain adaptability, redundant structure and increasingly mature gait planning method, has become a Key research objects in the field of mobile robotics. Developed countries such as the United States, Japan, and Germany began to invest in the research and development of hexapod robots on a large scale since the 1980s. Up to now, hexapod robots have been successfully used in many fields such as planetary exploration, mine detonation, submarine detection, fire rescue and so on. With the further development of material science, control theory and embedded technology, the research and applicatio...

Claims

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Application Information

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IPC IPC(8): B62D57/02
Inventor 王宇俊谭兴军何新强
Owner SOUTHWEST UNIVERSITY
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