A hexapod wheel-legged crawling bionic robot

Abstract

The invention relates to a hexapod wheel-leg crawling bionic robot. It includes the front part of the trunk, the middle part of the trunk, and the rear part of the trunk connected in sequence, and the front wheel leg assembly, the middle wheel leg assembly, and the rear wheel leg assembly respectively arranged on both sides of the front part of the trunk, the middle part of the trunk, and the rear part of the trunk. The distance between the rear part of the torso and the middle part of the torso is adjustable, the front wheel leg assembly, the middle wheel leg assembly and the rear wheel leg assembly are respectively driven by the first, second and third motors, and the front wheel leg assembly, the middle wheel leg assembly 1. The rigidity of the wheel leg of the rear wheel leg assembly is adjustable, and the first, second and third motors are powered by a battery pack. It can be known from the above technical solution that the present invention adjusts the inter-axle span of the robot and the rigidity of the wheel legs so that the maximum spanning ditch width and the maximum climbing ladder obstacle height of the equipment can be changed. Obtain the best motion parameters for the robot to adapt to the environment, and greatly improve the fault tolerance rate of the robot during crawling.

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

Images