Multifunctional six-legged climbing robot

A robotic and multi-functional technology, applied in the field of robotics, which can solve the problems of easy cam wear, complex control and low precision.

Inactive Publication Date: 2016-04-06
XI AN JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

But it has the following disadvantages: (1) The six legs are controlled separately, and each leg is equipped with two servo drives and zero springs to limit the position, which leads to complicated driving and complicated control, and the driving is realized by electronic devices, which is reliable (2) Although there are two climbing modes, one is for climbing steel and the other is for climbing rough walls. Other surfaces, such as mountain roads, cannot be climbed, which limits its application
It also has the following deficiencies: (1) The robot needs bendin

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  • Multifunctional six-legged climbing robot

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Embodiment Construction

[0031] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0032] see figure 1 , the multi-functional hexapod climbing robot of the present invention includes a transmission module 1 , a flying claw module 2 , a leg module 3 , a grasping module 4 , and a shell module 5 in total of five parts.

[0033] see figure 2 as well as image 3 , the housing module 5 is divided into two parts, the upper housing 70 and the lower housing 72 . The upper casing 70 adopts a hyperboloid design, and the rear half of the upper casing 70 is composed of six hyperboloid structures, with beautiful edges and corners, smooth curved surfaces and reduced air resistance; the front half of the upper casing 70 also adopts a hyperboloid design, and the top installation There is a CCD vision sensor 71 . The design of the lower housing 72 is based on the top view projection of the upper housing 70 to ensure that the upper and lower hous...

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Abstract

The invention provides a multifunctional six-legged climbing robot. The multifunctional six-legged climbing robot comprises a transmission module, a flying claw module, a grabbing module, a leg module and a shell module. The leg module comprises six legs which are distributed on the left side and the right side of the shell module. The transmission module comprises an orthogonal grooved wheel mechanism and gears, wherein the gears are driven by the orthogonal grooved wheel mechanism in a time division mode and located on the left side and the right side of the orthogonal grooved wheel mechanism. The legs are driven to swing through multi-stage transmission. The climbing function of the robot is realized through the transmission module and the leg module in a unified mode; the object picking function of the robot is realized through the grabbing module; the climbing assisting function of the robot is realized through the flying claw module; by means of the design of the orthogonal grooved wheel transmission mechanism, time-division transmission of the six legs divided into two groups can be achieved just through one control motor; control is simple, the mechanical structure is a major part, and the reliability is high.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a multifunctional hexapod climbing robot. Background technique [0002] With the continuous development of modern social economy, people are increasingly hoping to use robots to replace humans in dangerous work and repetitive labor. In the manufacturing field, whether it is the production line of products such as automobiles or the production line of parts such as gears, robots are used more and more widely; in the food industry, various food production lines, including packaging, injection molding, etc., demand for robots is also increasing. getting bigger. At present, the utilization rate of robots in earthquake relief and mountain road cleaning is very low, mainly relying on manpower to carry out these dangerous tasks. [0003] Chinese invention patent CN102774445 discloses a bionic climbing robot. The robot has three parts: a trunk, a tail, and a shell, and six l...

Claims

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Application Information

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IPC IPC(8): B62D57/024B62D57/032
CPCB62D57/024B62D57/032
Inventor 金悦韩天翼田飞许霖
Owner XI AN JIAOTONG UNIV
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