Hexapod robot capable of travelling in rolling manner

A technology of hexapod robot and driving steering gear, which is applied in the field of robotics, can solve problems such as difficult high-speed walking on flat roads, difficult control, complex systems, etc., and achieve the effects of improving energy utilization, increasing contact area, and large motion rigidity

Inactive Publication Date: 2015-06-10
JILIN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, many hexapod robots have appeared. These robots are generally driven by connecting rods, and can achieve functions such as obstacle surmounting, but it is difficult to overcome obstacles that exceed their own height; and the system is relatively complicated and difficult to control.
The current hexapod robots have better obstacle-surmounting ability, but it is difficult to walk at high speed on flat roads

Method used

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  • Hexapod robot capable of travelling in rolling manner
  • Hexapod robot capable of travelling in rolling manner
  • Hexapod robot capable of travelling in rolling manner

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Embodiment Construction

[0042] The present invention will be further described below in conjunction with the accompanying drawings.

[0043] figure 1 It is a structural diagram of a whole machine of a hexapod robot that can roll forward in the present invention, it can be seen that it includes a hexagonal whole machine support 1, a control and detection module 2 fixedly installed directly above the whole machine support 1 and respectively fixed on Six foot mechanisms 3, 4, 5, 6, 7, 8 on the six sides of the complete machine support 1, wherein the structural forms of the six foot mechanisms 3, 4, 5, 6, 7, 8 are identical, and all Including upper body mechanism A, middle body mechanism B and lower body mechanism C.

[0044] Described upper body mechanism A is as figure 2 As shown, it consists of upper limb servo steering gear 9, upper limb power output flange 10, upper limb and middle section connector 11, flange support shaft 12, bearing assembly 13 and bearing bracket 14. The high-torque upper li...

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Abstract

The invention discloses a hexapod robot capable of travelling in a rolling manner. The hexapod robot comprises a hexagonal complete machine bracket, a control and detection module fixedly arranged above the complete machine bracket, and six foot mechanisms respectively fixed on six edges of the complete machine bracket, wherein the six foot mechanisms are same in structure forms, and comprise upper limb mechanisms, middle mechanisms and lower limb mechanisms. The hexapod robot walks depending on feet under the condition of a rugged and bad road; and when the hexapod robot meets a flat rod and a downhill road, all the foot mechanisms coordinate under the control of a central control unit to complete the gesture switching from walking to rolling. According to the hexapod robot, in comparison with the conventional mode of configuring a mechanism close to the hexapod robot body to the transverse oscillating freedom, the mode of configuring a drive mechanism close to a hexapod robot body to the lifting control freedom has the advantage of improving the obstacle crossing ability; the redundancy of a movement mechanism of the hexapod robot ensures that the hexapod robot can travel after a certain joint fails; and the hexapod robot can complete the grabbing action depending on two legs, and thus the capability of executing a task is improved.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a hexapod obstacle-surmounting robot that can walk with legs and roll. Background technique [0002] It has many advantages: Compared with wheeled robots, footed robots have better adaptability and obstacle avoidance walking ability on rough roads and harsh road conditions; compared with crawler robots, footed robots have lighter weight and better coupling of walking mechanisms. It is weak, and can continue to walk after a certain degree of freedom mechanism fails. Legged robots, especially hexapod robots, have good road adaptability, high-speed maneuverability, walking stability and structural reliability, and can easily cross obstacles. Therefore, hexapod robots are widely used in dangerous area detection, disaster rescue and other fields. [0003] At present, many hexapod robots have appeared. These robots are generally driven by connecting rods and can achieve functions such a...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/032
Inventor 张海龙张先彪周威尹婷婷孟珂刘春杰杨乐
Owner JILIN UNIV
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