Linear gear drive based hexapod bionic robot

Abstract

The invention relates to a linear gear drive based hexapod bionic robot which comprises a robot body, a single chip microcomputer, two micro-motors, two mutually-parallel drive shafts respectively connected with the two micro-motors, six driving wheels, six driven wheels and six vertical columnar feet.Each driving wheel comprises a driving wheel body and at least two spatial spiral line shaped driving linear teeth uniformly distributed on the end face of the driving wheel body in the peripheral direction, and each driven wheel comprises a driven wheel body and multiple circular-arc-line shaped driven linear teeth uniformly distributed in the peripheral direction of the driven wheel body.Each drive shaft fixes three driving wheel bodies, three output shafts fixing the driven wheel bodies are arranged on the two sides of the robot body respectively, included angles formed by the output shafts and the drive shafts are 0-180 degrees, the driving linear teeth are meshed with the driven linear teeth, the two sides of the robot body are respectively in sliding fit with three sliding rods, the feet movably penetrate through the sliding rods, connecting rods are arranged between the output shafts and the feet, and clutches are arranged between the output shafts and the connecting rods.The linear gear drive based hexapod bionic robot is small in size, low in cost, simple in control and large in drive ratio and can work in a tiny space or a complicated environment.

Description

technical field [0001] The invention relates to a bionic robot capable of walking in a tiny space, in particular to a hexapod bionic robot based on wire gear transmission. Background technique [0002] People's fantasies and pursuits of robots have a history of more than 3,000 years. Humans hope to create a machine like a human to replace humans to complete various tasks. In 1959, the first industrial robot was born in the United States. In recent decades, robots for various purposes have come out one after another, making many dreams of human beings come true. With the complexity of the robot's working environment and tasks, the requirement for the robot to be able to work in a small space and in a complex environment is becoming more and more urgent. However, the simple wheel and track moving mechanism of traditional robots can no longer adapt to the changing and complex environmental requirements. [0003] Traditional robots: [0004] (1) Wheeled robot [0005] The me...

AI Technical Summary

Problems solved by technology

The disadvantage is that the movement speed is slow, the speed and direction cannot be controlled independently, the friction force is very large, the energy loss is large, and the tension of the track needs to be kept

[0008] At present, the robot is large in size, high in cost, complex in control algorithm, difficult to realize the movement of large load, and cannot meet the requirements of being able to work in a small space and in a complex environment.

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