A twelve-legged robot and its motion method

Abstract

The invention relates to a robot with twelve feet, and the robot provided by the invention comprises a main body, a main servo motor, moving servo motors, rotating servo motors, moving mechanisms, leg structures and foot components, wherein the main servo motor is arranged in the main body; separating plates are used for dividing the main body into six areas; rotating position sensors are arranged on the separating plates; the moving mechanisms are fixed in all the areas of the main body by virtue of fastening components; two servo motors which are used for controlling the leg structures of the robot to move up and down and two servo motors which are used for controlling the leg structures of the robot to rotate are arranged in support plates of the moving mechanisms; each of the servo motors used for controlling the leg structures of the robot to move up and down is provided with one leg structure; and the foot components are mounted at the bottoms of the leg structures. The robot with twelve feet, which is composed of six legs, provided by the invention is designed for realizing wide-angle steering by stopping the travelling moving mechanism and starting the to-be-rotated movingmechanism when a steering angle is wider.

Description

technical field [0001] The invention relates to the field of robots, in particular to a twelve-legged robot and a movement method thereof. [0002] Background technique [0003] Reptile robots have good stability and terrain adaptability, and have been used more and more in field scientific exploration and alien planet detection. However, with the deepening of these explorations, the terrain and surface environment required to be explored are becoming more and more complex. In the past, crawling robots often slipped or even overturned because they could not attach to slopes; on extremely rough surfaces full of rocks and sand, robots that use foot vacuum adsorption could not move forward effectively. If the feet of the crawling robot are equipped with drill bits inserted into the ground surface, the robot can be firmly attached to the above-mentioned ground surface environment and effectively climb. This just requires the feet of the crawling robot to be vertical to the gro...

AI Technical Summary

Problems solved by technology

This just requires the feet of the crawling robot to be vertical to the ground all the time. figure 1 The quadruped robot shown in CN201010219094.3 is used to solve this problem. The quadruped robot includes a body 3', a leg structure 1' with a parallel four-bar mechanism, a servo motor 2' and a main servo motor 4'. Not only has less freedom, but also can ensure that the feet are in a vertical state with the ground when moving, and can realize various crawling gaits by controlling the motion parameters of each joint, so the terrain adaptability is strong, and it is suitable for field investigations, surveys and other activities, but due to There are only 2 leg structures. In the case of large bending angles, the 3' of the body has a relatively large bend, which is inconvenient to turn, and because it first turns 1 leg structure or 2 The leg structure rotates together, so if you encounter a situation where you need to shoot vertically, you can't crawl because you can't fix it with the leg mechanism

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