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Special wheel-foot integrated hexapod robot based on OS wheels

A hexapod robot and robot technology, applied in the field of intelligent robots, can solve the problems of large size and complex structure, and achieve the effects of diverse functions, strong environmental adaptability, and fast leveling speed

Inactive Publication Date: 2020-03-24
BEIJING UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Its disadvantages are: complex structure, large size, not suitable for places with small spaces such as indoors

Method used

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  • Special wheel-foot integrated hexapod robot based on OS wheels
  • Special wheel-foot integrated hexapod robot based on OS wheels
  • Special wheel-foot integrated hexapod robot based on OS wheels

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0021] Such as figure 2 As shown, a special wheel-foot integrated special hexapod robot based on OS wheels is characterized in that it consists of a robot body, a vision system, a positioning module, a control module, a comprehensive detection module, a power supply module, and a storage module, specifically including a robot body 1 , robot foot 2, external metal protective frame 3, positioning module 4, camera 5, microphone 6, Wi-Fi module 7 and comprehensive detection module 8.

[0022] The hexapod robot body 1 is composed of a main frame, a controller 101 , a motor driver 102 , a motor 103 and a power module 104 . The foot 2 of the robot is fixedly connected to the robot body 1 in the axial direction, the external metal protective frame 3 is fixedly connected to the upper part of the robot body 1, and the positioning module 4 is fixed on the robot body 1, including the GPS system 401 and GY953 AHRS inertial sensors 402, they can send location information and motion status...

Embodiment 2

[0029] The overall relationship of the main components is shown in the figure. Each shaft is connected to a set of electric motors. Each motor drives the caster to rotate. Such as image 3 , 4 , each foot consists of a large wheel shaft, a group of vanes, a driving gear, two driven small gears, and two driven large gears. There is a small motor in the middle of the large wheel shaft, and the motor shaft is fixedly connected with the driving gear through a connecting piece for the contraction and extension of the blades. The driving gear and the driven pinion, the driven bull gear and the driven pinion, and the vanes are meshed and connected. The contraction and extension of the vane is more conducive to the robot to cross different obstacles. On flat ground, the foot is an O-wheel. When an obstacle is encountered, the small motor controls the driving gear to rotate clockwise, driving the driven pinion on the left to rotate counterclockwise, the driven pinion on the right ...

Embodiment 3

[0031] When the hexapod robot is placed in a closed interior space with stairs in front. Assuming this is a patrol in the hallway, the robot has to go upstairs and patrol the next floor. refer to figure 2 , press the switch to start the hexapod robot. Once the robot is activated, there are two control modes to choose from. One is automatic mode and the other is manual mode. Anyway, after the robot starts up, the battery will support all the motors and sensors. Different sensors are used to process the collected information. When the robot conducts security patrols, it can automatically switch the caster mode and move forward, backward, turn or stop according to the road conditions. When the robot detects a stair obstacle ahead, it slows down. Obstacles are judged by the program. If it can be crossed, the wheel structure will be converted into a foot structure, that is, the O-shaped wheel will be converted into an S-shaped wheel, which is convenient for climbing stairs....

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Abstract

The invention discloses a special wheel-foot integrated hexapod robot based on OS wheels. The robot is composed of a robot body, a visual system, a positioning module, a control module, a comprehensive detection module, a power module and a storage module. The adopted OS type rotating wheel can greatly improve the obstacle crossing capacity of the robot, the robot body is divided into three sections, each of the three sections is connected to other sections through a spherical hinge, and the hinges are driven by three two-degree-of-freedom motors. The robot is more flexible due to the vehiclebody segmentation design and can be applied to various complex scenes. In addition, different sensors are arranged, so that the work of alarming, license plate recognition and the like can be effectively carried out. The robot comprehensively considers the advantages and disadvantages of a wheel type robot and a foot-shaped robot, has the capability of the foot-shaped robot to pass through different terrains, has a high moving speed, and has the advantages of being high in environmental adaptability, high in obstacle passing efficiency, high in land leveling speed, diverse in function, easy todisassemble and replace, low in maintenance cost, capable of being operated manually and the like.

Description

technical field [0001] The invention relates to a special hexapod robot integrated with wheels and feet based on an OS wheel, which belongs to the field of intelligent robots. Background technique [0002] Nowadays, the security field is an emerging field, and there is still a huge demand gap in the industry. Therefore, the new security patrol robot is a promising development direction of the robot industry. In the future, more and more patrol robots will be invented and produced. With policy support, using robot patrols is both cost-effective and efficient. However, the current research on security patrol robots is still in its infancy, and there are problems such as poor obstacle-surmounting ability, insufficient flexibility, and lack of functions. The purpose of the present invention is to provide a special hexapod robot with integrated wheels and feet based on OS wheels. The OS-type runners used can greatly improve its ability to overcome obstacles. The body segmentati...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/024
CPCB62D57/024
Inventor 朱晓庆王明超李鹏陈璐余鹏程刘鹏飞陈晓谭晨硕别桐
Owner BEIJING UNIV OF TECH
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