Multi-moving-mode bionic moving robot

Abstract

The invention discloses a multi-moving-mode bionic moving robot, which is characterized by consisting of a machine body platform, six machine legs in the same structures, a video monitoring system based on 3G (3rd generation) network and a double-rocker-rod remote operation and control system based on remote operation, wherein the machine legs comprise four joint parts and one wheel part, each joint part is driven by a large-torque steering engine with the rotating angle being 180 degrees, one steering engine is in charge of driving one joint, the wheel parts are driven by large-toque steering engines with the rotating angle being 360 degrees, and the whole circle rotation can be realized. The two ends of the steering machine rotating center shaft are respectively fixed by bearings, the six machine legs are symmetrically arranged at two sides of the robot machine body platform for forming a bionic mechanism, a connecting rod arranged at the lower end of the machine legs adopts a right-angle reverse L-shaped deign, one end of the connecting rod is connected with the machine body, the other end of the connecting rod is in contact with the ground, the video monitoring system mainly comprises a sending end and a receiving end, and the remote operation and control system carries out operation and control by aiming at the six machine legs, and mainly comprises a sending end and a receiving end.

Description

technical field [0001] The invention relates to robot technology, in particular to a bionic mobile robot with multiple motion modes. Background technique [0002] Among the walking mechanisms of mobile robots, wheeled robots, crawler robots, and legged robots with bionic functions (or bionic robots) are studied more. Among them, the wheeled robot has the highest mobile efficiency, flexible movement, relatively simple control and development, but its terrain adaptability is relatively poor; the crawler robot has a strong adaptability to the terrain, a large load capacity, and relatively stable walking. It is not flexible and moves relatively slowly; while the bionic robot has a legged mechanism, which has the strongest adaptability, but its efficiency is low. Referring to the above-mentioned advantages and disadvantages of the mobile robot, the mobile mechanism of some robots combines the wheel-type mobile mechanism and the leg-type mobile mechanism to form a wheel-leg mobil...

AI Technical Summary

Problems solved by technology

However, a single travel method cannot meet the requirements of complex terrain, so now most of them use a composite travel method of more than two travel methods. Such robot platforms have stronger adaptability to complex terrain.

[0005] In recent years, the typical wheel-legged mobile robots mainly include: 1. The American "Curiosity" Mars Exploration Rover, which is a six-wheeled mobile robot with the characteristics of wheeled robots and legged robots, and its terrain adaptability has been improved. However, since this type of robot adopts a suspension mechanism, its flexible mobility is still limited, its traveling efficiency is not high, and its ability to adapt to terrain and overcome obstacles is also limited; This type of machine has a strong ability to overcome obstacles, can move flexibly, and can complete a variety of motion functions and adapt to various terrains. However, affected by its dynamic performance, its action efficiency is low, and because of its simple mechanism configuration and the number of motors 3. The halluc II mobile robot developed by Chiba University in Japan has a "deformation" function, and its mobility is further improved, and it can realize the compound movement of wheels, legs, and wheels. The robot control system is complex, and there are also problems such as energy consumption and volume.

Images