A quadruped robot for acquiring spatial 3D data

Abstract

The invention provides a quadruped robot for obtaining spatial three-dimensional data, which includes a fuselage, two parts in the front and rear of the fuselage range, hinged in the middle through a steering hinge, and performs horizontal plane connection angle rotation, and the front fuselage part is provided with data The sales mechanism, the data collection mechanism and the fuselage are hinged to rotate the angle of the horizontal and vertical planes. It is characterized in that the four corners of the fuselage are distributed between the wheeled state and the bionic footed state by changing the connection angle of the connecting rod and the arc. The movement mechanism, the movement mechanism includes the arc assembly that drives the caster wheel through two sets of rotating shafts and the motor at the same time, and the arc assembly of the caster wheel is driven by the differential motion between the two sets of motors to move and deform, realizing the wheel structure to the foot structure The stepless adjustment between them is suitable for various ground environments, and has the applicability and good development prospects of tube rice.

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 3D data, also known as geometric data, is used to represent the position, shape, size distribution and other information of objects. The use of technology is widely used in all walks of life, but for the collection of data in places that are difficult for humans to reach, it needs to be acquired by professional drones or robots. [0003] Existing robots, such as a deformation robot with an application number of CN202120269240.7, discloses a robot that can switch among four-legged, four-wheeled, two-legged, and two-wheeled. The motion mechanism is four four-bar linkages. As the limbs of the robot, the switching 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; ...

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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