Quadruped robot for acquiring spatial three-dimensional data

Abstract

The invention provides a quadruped robot which comprises a robot body, a front part and a rear part of the robot body are hinged through a steering hinge, horizontal plane connection angle rotation is conducted, a data selling mechanism is arranged on the front side of the robot body, and a data collecting mechanism is hinged to the robot body to perform horizontal and vertical plane angle rotation. The robot is characterized in that movement mechanisms which are switched between a wheel type state and a bionic foot type state by changing the connecting angles of connecting rods and arc-shaped pieces are distributed at the four corners of the robot body, and each movement mechanism comprises an arc-shaped assembly which drives foot wheels through two sets of rotating shafts and a motor at the same time; the differential motion between the two sets of motors drives the arc-shaped assemblies of the foot wheels to move and deform, stepless adjustment from a wheel type structure to a foot type structure is achieved, and the quadruped robot is suitable for various ground environments and has the rice management applicability and good development prospects.

Description

technical field [0001] The invention relates to the field of robots, in particular to a quadruped robot for acquiring spatial three-dimensional data. Background technique [0002] Spatial three-dimensional data, also known as geometric data, is used to represent information on the position, shape, and size distribution of objects. It is a quantitative description of objects and phenomena that exist in the real world with positioning significance. And the use of technology is widely used in all walks of life, but for the collection of data in some places where manpower is difficult to reach, it needs to be obtained by professional drones or robots. [0003] Existing robots, such as a deformed robot whose application number is CN202120269240.7, disclose a robot that can switch between four-legged, four-wheeled, bipedal, and two-wheeled. The motion mechanism is four four-bar linkages. As the limbs of the robot, the switch between the wheel type and the foot type is realized by...

AI Technical Summary

Problems solved by technology

The motion mechanism is four four-bar linkages. As the limbs of the robot, the switch between the wheel type and the foot type is realized by the four-bar linkage mechanism driven by the executive motor; the deformation mechanism is composed of five hinge mechanisms; the The standing and lying down of the fuselage are realized by the motor driving the rotation of the waist hinge mechanism of the robot and the driving of the executive motor connected with the hind limbs; the switching between quadrupeds and bipeds is realized by the standing and lying down of the fuselage; however, its forward The power depends on the offset of the center of gravity and the four-bar linkage mechanism along the axial direction of the motor shaft. When the four-bar linkage mechanism moves, a large vertical height change will occur at the contact point with the ground, and the driving force of the motor will not change. It cannot be effectively converted into the driving force of the robot, which leads to a decrease in the stability of the robot when it is in a footed motion state. When performing data collection tasks, it leads to an increase in the difficulty of data collection and a decrease in accuracy, which also leads to a waste of kinetic energy. , affecting device life

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