A Multifunctional Hexapod Climbing Robot

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...

AI Technical Summary

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 bending motors, turning motors, etc. to realize corresponding functions, and the control is complicated; (2) It can only climb straight rod-shaped objects, but cannot implement the structure on structures with various surface topography. climb up

[0005] Chinese invention patent CN203806033 discloses a quadruped climbing robot driven by a bionic single motor. The robot uses a power source because it designs a cam transmission mechanism, but the cam mechanism has the following disadvantages: the cam is easy to wear , low precision, difficult to manufacture and process

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