Six foot wheel leg type climbing biomimetic robot

Abstract

The invention relates to a six foot wheel leg type climbing biomimetic robot. The robot comprises a front trunk part, a middle trunk part, a rear trunk part, front wheel leg assemblies, middle wheel leg assemblies and rear wheel leg assemblies, wherein the front trunk part, the middle trunk part and the rear trunk part are connected in sequence; the front wheel leg assemblies, the middle wheel leg assemblies and the rear wheel leg assemblies are arranged on the two sides of the front trunk part, the two sides of the middle trunk part and the two sides of the rear trunk part respectively; the distance between the front trunk part and the middle trunk part and the distance between the rear trunk part and the middle trunk part are adjustable; the front wheel leg assemblies, the middle wheel leg assemblies and the rear wheel leg assemblies are driven by a first motor, a second motor and a third motor respectively, and the rigidity of wheel legs of the front wheel leg assemblies, the middle wheel leg assemblies and the rear wheel leg assemblies is adjustable; a battery pack supplies power to the first motor, the second motor and the third motor. From the technical scheme, it can be known that both the maximum spanning ditch width and the maximum climbing step barrier height of equipment can be changed by adjusting the inter-axis span and the wheel leg rigidity of the robot; on the premise of satisfying climbing usage requirements, the optimum motion parameters, for adapting to the environment, of the robot can be obtained, and therefore the error-tolerant rate of the robot in the climbing process is greatly increased.

Description

technical field [0001] The invention relates to a bionic robot, in particular to a hexapod wheel-leg crawling bionic robot. Background technique [0002] With the continuous development of the energy and exploration industry, the exploration of unknown areas has always been the focus of the industry. On the one hand, it is the development of new landform areas, and on the other hand, it is the collection of comprehensive parameters of the accident scene. Information acquisition poses a test for the safety of survey personnel and the portability of carrying equipment. Traditional wheeled mobile portable surveying equipment is greatly affected by the site environment. Since the wheels are always in a state of rotation, its escape can only be achieved by increasing the wheel speed, and the wheel speed is limited by the performance of the motor and power supply. Therefore, the wheel Type mobile portable equipment can't give full play to its fast advantage in uneven, muddy and o...

AI Technical Summary

Problems solved by technology

Traditional wheeled mobile portable surveying equipment is greatly affected by the site environment. Since the wheels are always in a state of rotation, its escape can only be achieved by increasing the wheel speed, and the wheel speed is limited by the performance of the motor and power supply. Therefore, the wheel Mobile portable devices cannot take advantage of their high speed in uneven and muddy environments

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