Double-sided walking hexapod robot with cable dart system and obstacle crossing, obstacle moving and obstacle breaking method of double-sided walking hexapod robot

Abstract

According to the double-face walking hexapod robot with the cable dart system, six double-face walking mechanisms are arranged on a robot body, and therefore the robot can have the walking capacity in the upper direction and the lower direction; meanwhile, the cable dart systems are arranged on the upper side and the lower side of the robot body correspondingly, and the robot can have the obstacle crossing, obstacle moving and obstacle breaking capacity through mutual cooperation of the two cable dart systems. The invention further discloses an obstacle crossing, obstacle moving and obstacle breaking method of the double-sided walking hexapod robot with the cable dart system. According to the double-sided walking hexapod robot with the cable dart system and the obstacle crossing, obstacle moving and obstacle breaking methods of the robot, the obstacle crossing, obstacle moving and obstacle breaking capacities are achieved, the robot can efficiently cross high walls, deep ditches and other complex terrains due to the precise launching and stable anchoring capacities of the cable dart system, the application range is greatly expanded, and the robot is suitable for being popularized and applied. And the adaptability of the robot in complex terrains can be obviously improved.

Description

Technical Field

[0001] The invention belongs to the technical field of walking robots, and specifically relates to a double-sided walking hexapod robot with a cable dart system and an obstacle traversing, moving and breaking method thereof. Background Art

[0002] With the rapid development of robotics technology, various types of robots are widely used in disaster relief, military reconnaissance and extreme environment detection. However, in complex terrain conditions, such as high walls, deep trenches or obstacles blocking the path, the existing robots still have significant limitations in their ability to cross, move and break obstacles. Traditional ground robots mainly rely on legs or wheeled drives to achieve movement. When facing complex obstacles such as high walls or chasms, their ability to cross is limited; although some bionic robots have certain climbing capabilities, they require specific contact surfaces or external auxiliary devices, and their scope of application is limited. In addition, traditional robots generally lack the ability to handle path obstacles. When faced with physical obstacles such as stones and wood in collapsed buildings, they can usually only avoid them, but cannot actively clear them, which leads to mission obstruction. In particular, in obstacle breaking tasks, existing robots are rarely equipped with systems that can destroy fixed or hard obstacles, and their task scope is limited. Especially in scenarios where it is necessary to quickly open up paths or destroy obstacles, they mostly rely on external professional equipment or manual assistance, which makes it difficult to meet efficiency and safety requirements. Summary of the invention

[0003] In view of this, the purpose of the present invention is to provide a two-sided walking hexapod robot with a rope and dart system and its obstacle surmounting, obstacle moving and obstacle breaking method, which has the ability of obstacle surmounting, obstacle moving and obstacle breaking, and can significantly improve the robot's adaptability in complex terrain.

[0004] In order to achieve the above object, the present invention provides the following technical solutions:

[0005] The present invention firstly proposes a double-sided walking hexapod robot with a dart system, comprising a fuselage, on which six double-sided walking mechanisms are arranged; two dart systems with opposite launching directions are installed on the fuselage, and the two dart systems are respectively installed on the upper and lower sides of the fuselage;

[0006] The dart cable system comprises a mounting seat, the mounting seat is fixedly connected to the fuselage, and a dart cable launching assembly and a rope winding assembly are installed on the mounting seat;

[0007] The dart launching assembly comprises a launching tube for accommodating the dart and a dart launching driving mechanism; the launching tube is fixedly mounted on the mounting seat; the dart launching driving mechanism comprises a rotating arm and a driving cylinder rotatably mounted on the mounting seat, the rear end of the rotating arm is rotatably engaged with the mounting seat via a first rotating shaft, the telescopic rod of the driving cylinder is rotatably engaged with the middle part of the rotating arm via a second rotating shaft, a launching wheel and a launching motor for driving the launching wheel to rotate are provided at the front end of the rotating arm; the first rotating shaft and the second rotating shaft are both perpendicular to the axis of the launching tube, the axis of the launching wheel is inclined relative to the axis of the launching tube, and a notch is provided on the launching tube for exposing the contact portion between the dart and the launching wheel;

[0008] The rope winding mechanism comprises a winding shaft for winding the rope and a winding motor mounted on the mounting seat, one end of the winding shaft is mounted on the mounting seat through a rotating support, and the other end is drivingly connected to the winding motor;

[0009] The dart cable includes a dart body, a mooring hole connected to the rope is provided in the dart body, and an eccentric load component is provided in the dart body; the eccentric load component includes an internal motor and a power supply for power supply, and an eccentric block is installed on the output shaft of the internal motor.

[0010] Furthermore, the dart body comprises a vertebral body, a cone tip is provided at the front end of the vertebral body, the cone tip is detachably mounted on the vertebral body and is made of a hard material, and the mooring hole is provided at the rear end of the vertebral body.

[0011] Furthermore, friction strips cooperating with the launching wheel are arranged at intervals on the outer wall of the vertebral body, and the friction strips are arranged spirally around the axis of the vertebral body.

[0012] Furthermore, the double-sided walking mechanism includes a walking leg and a double-sided walking foot, one end of the walking leg is connected to the fuselage through a leg connecting piece, and the second end of the walking leg is connected to the double-sided walking foot;

[0013] The leg connecting member is provided with a first walking mechanism for driving the walking leg to swing around a first direction, and a second walking mechanism for driving the walking leg to swing around a second direction is provided between the fuselage and the leg connecting member; the walking leg is provided with a foot walking mechanism for driving the double-sided walking foot to rotate around a rotating shaft parallel to the first direction;

[0014] The first direction and the second direction are perpendicular to each other, the first direction is perpendicular to the axis of the fuselage, and the second direction is parallel to the axis of the fuselage.

[0015] Further, the leg connecting member is provided with a first rotating shaft which is rotatably matched with the leg connecting member and is parallel to the first direction, the walking leg rotates synchronously with the first rotating shaft, the first walking mechanism comprises a first motor installed on the leg connecting member, and the first motor is transmission-connected with the first rotating shaft;

[0016] The body is provided with a second rotating shaft which is rotatably matched with the body and parallel to the second direction, the leg connecting member rotates synchronously with the second rotating shaft, the second walking mechanism includes a second motor mounted on the body, and the second motor is transmission-connected to the second rotating shaft;

[0017] The walking leg is provided with a third rotating shaft which is rotatably matched with the walking leg and parallel to the first direction. The walking leg rotates synchronously with the third rotating shaft. The foot walking mechanism includes a third motor installed on the walking leg, and the third motor is drivingly connected to the third rotating shaft.

[0018] Furthermore, the double-sided walking foot comprises two symmetrically arranged feet, a connecting portion is provided between the two feet, and the connecting portion is connected to the walking leg.

[0019] Furthermore, a robot control system is provided in the fuselage, and the robot control system includes a controller module, a data acquisition module, a first motor control module, a second motor control module, a third motor control module, an internal motor control module, a signal transmission module and a power supply module for power supply; the data acquisition module, the first motor control module, the second motor control module, the third motor control module, the internal motor control module and the signal transmission module are all electrically connected to the controller module;

[0020] The first motor control module controls the action of the first motor according to the first motor control instruction issued by the controller module;

[0021] The second motor control module controls the action of the second motor according to the second motor control instruction issued by the controller module;

[0022] The third motor control module controls the action of the third motor according to the third motor control instruction issued by the controller module;

[0023] The internal motor control module controls the internal motor action according to the internal motor control instruction issued by the controller module; the internal motor control module is arranged in the vertebral body, and the vertebral body is also provided with a signal receiving module for receiving the internal motor control instruction issued by the signal transmitting module;

[0024] An environmental perception module is provided on the mounting base, and the data acquisition module collects the distance data of the target launch point and the material information of the target obstacle through the environmental perception module; cameras are respectively provided on the upper and lower sides of the fuselage, and the data acquisition module collects image data of the surrounding environment through the cameras.

[0025] Furthermore, the signal receiving module adopts a wireless communication receiving module, or the signal receiving module adopts a wired communication module, and a communication line connected to the signal receiving module is provided in the rope.

[0026] The present invention also proposes a method for overcoming, moving and breaking obstacles of a double-sided walking hexapod robot with a dart system, including an obstacle overcoming mode, an obstacle moving mode and an obstacle breaking mode;

[0027] When executing the obstacle crossing mode, the following steps are included:

[0028] 11) Identify the size and shape of the obstacle ahead through the environment perception module and select the first anchor point located above the obstacle;

[0029] 12) adjusting the posture of the two-sided walking hexapod robot so that the launching direction of the first dart system located above the body is aligned with the selected first anchor point;

[0030] 13) The first dart system launches the dart and hits the first anchor point, and the dart is anchored to the first anchor point;

[0031] 14) Using the winding motor of the first cable dart system to drive the winding shaft to recycle the rope, the double-sided walking hexapod robot is pulled up to the first anchor point;

[0032] 15) Identify the environment behind the obstacle through the environment perception module and select the second anchor point behind the obstacle;

[0033] 16) Adjusting the posture of the two-sided walking hexapod robot so that the launching direction of the second dart system located under the fuselage is aligned with the selected second anchor point;

[0034] 17) The second dart system launches the dart and hits the second anchor point, and the dart is anchored to the second anchor point;

[0035] 18) using the winding motor of the second dart system to drive the winding reel to recycle the rope, and at the same time using the winding motor of the first dart system to drive the winding reel to release the rope, driving the two-sided walking hexapod robot to move toward the rear of the obstacle and cross the obstacle;

[0036] 19) starting the internal motors in the two dart cables to drive the eccentric blocks to rotate, causing the dart cables to vibrate and gradually loosen from the corresponding first anchor point and the second anchor point; starting the winding motors in the first dart cable system and the second dart cable system to retract the ropes, causing the two dart cables to detach from the corresponding first anchor point and the second anchor point respectively and retract into the corresponding launch tubes;

[0037] When executing the barrier removal mode, the following steps are included:

[0038] 21) Adjust the posture of the two-sided walking hexapod robot so that the launching direction of the second dart system located under the body is directed toward the ground;

[0039] 22) The second dart system launches the dart and anchors the dart in the ground;

[0040] 23) Adjusting the posture of the two-sided walking hexapod robot so that the launching direction of the first dart system located above the body is aimed at the target obstacle;

[0041] 24) The first dart system launches the dart and hits the target obstacle, and the dart is nailed to the target obstacle;

[0042] 25) using the winding motor of the first dart system to drive the winding shaft to recycle the rope, and using the tension of the rope to drive the obstacle to move;

[0043] 26) After the target obstacle moves to the set position, the internal motor in the first dart cable system is started to drive the eccentric block to rotate, so that the dart cable vibrates and gradually loosens from the target obstacle; the winding motor in the first dart cable system is started to retract the rope, so that the dart cable is separated from the target obstacle and is retracted into the launch tube;

[0044] 27) looping through steps 23) to 26) until all target obstacles are removed;

[0045] 28) starting the internal motor in the second dart cable system to drive the eccentric block to rotate, causing the dart cable to vibrate and gradually loosen from the ground; starting the winding motor in the second dart cable system to retract the rope, causing the dart cable to detach from the ground and be retracted into the launch tube;

[0046] When executing the obstacle breaking mode, the following steps are included:

[0047] 31) Adjust the posture of the two-sided walking hexapod robot so that the launching direction of the second dart system located under the body is aimed at the ground;

[0048] 32) The second dart system launches the dart and anchors the dart in the ground;

[0049] 33) Adjusting the posture of the two-sided walking hexapod robot so that the launching direction of the first dart system located above the body is aimed at the target obstacle;

[0050] 34) The first dart system launches the dart and hits the target obstacle, and destroys the target obstacle by the impact of the dart;

[0051] 35) using the winding motor of the first dart system to drive the winding shaft to recycle the rope, so that the dart is separated from the target obstacle and recovered into the launching tube;

[0052] 36) looping through steps 33) to 35) until all target obstacles are destroyed;

[0053] 37) Start the internal motor in the second dart cable system to drive the eccentric block to rotate, so that the dart cable vibrates and gradually loosens from the ground; start the winding motor in the second dart cable system to retract the rope, so that the dart cable is detached from the ground and recovered into the launching tube.

[0054] Further, the method of launching the dart is:

[0055] Start the launch motor to drive the launch wheel to rotate at the set speed;

[0056] The drive cylinder is started to extend the telescopic rod of the drive cylinder and drive the rotating arm to rotate toward the launching tube until the launching wheel contacts the dart and drives the dart to be shot toward the shooting point; during the time period from the start of the rotation of the rotating arm toward the launching tube to the moment when the tail end of the dart leaves the launching tube, the winding motor is started to drive the winding shaft to rotate forward and release the rope; after the dart is shot out of the launching tube, the telescopic rod of the drive cylinder is retracted and the rotating arm is driven to rotate back to the launching tube to the initial position.

[0057] The beneficial effects of the present invention are:

[0058] The double-sided walking hexapod robot with a dart system of the present invention has six double-sided walking mechanisms arranged on the body, so that the robot can walk in both the upper and lower directions; at the same time, by respectively arranging the dart systems on the upper and lower sides of the body and utilizing the mutual cooperation of the two dart systems, the robot can have the ability to cross, move and break obstacles; specifically, when it is necessary to move an obstacle, the darts of the upper dart system can be anchored to the anchor point above the obstacle first, and after the robot is moved to the anchor point, the darts of the lower dart system can be anchored to the anchor point behind the obstacle, so that the robot can finally cross the obstacle; when it is necessary to move an obstacle, The darts of the lower dart system are first anchored on the bottom surface, and then the darts of the upper dart system are nailed to the obstacle, and the obstacle can be moved away with the help of ropes; when breaking the obstacle, the darts of the lower dart system are first anchored on the bottom surface, and then the darts of the upper dart system are used to exert sufficient impact on the obstacle to destroy it; in summary, the double-sided walking hexapod robot with a dart system in the present invention has the ability to traverse, move and break obstacles, and the precise launch and stable anchoring capabilities of the dart system enable the robot to efficiently cross complex terrains such as high walls and deep trenches, greatly expanding the scope of application, and can significantly improve the robot's adaptability in complex terrains.

[0059] The double-sided walking hexapod robot with a dart system of the present invention also has the following advantages:

[0060] 1) A dart launching assembly and a rope winding assembly are arranged in the dart launching system; when launching, the launching wheel is first driven to rotate and the launching wheel has a sufficient rotation speed, and then the telescopic rod of the driving cylinder is used to drive the rotating arm to rotate, so that the launching wheel contacts and cooperates with the dart, and the friction between the launching wheel and the dart is used to make the dart obtain an initial axial velocity. At the same time, since the axis of the launching wheel is inclined relative to the axis of the dart, the dart can also have an angular momentum rotating around its axis, so that the flight posture of the dart after launching is more stable; during the launching process of the dart, the winding motor is used to drive the winding shaft to rotate forward and release the rope, so that the dart drives the rope to be shot into the anchor point or obstacle together; after the dart is launched, the winding motor is used to drive the winding shaft to rotate in the opposite direction to wind the rope and recycle the dart into the launching tube for reuse.

[0061] 2) The real-time distance and material information provided by the environmental perception module helps optimize the dart launch angle and force, improving the accuracy and safety of the operation;

[0062] 3) By arranging a first walking mechanism on the leg connecting member for driving the walking legs to swing around a first direction, arranging a second walking mechanism between the fuselage and the leg connecting member for driving the walking legs to swing around a second direction, and arranging a foot walking mechanism on the walking leg for driving the double-sided walking foot to rotate around a rotating axis parallel to the first direction; in this way, the double-sided walking hexapod robot with a dart system of the present invention can have flexible posture adjustment capabilities, provide support for the multi-directional launch of the dart system, and have stronger adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In order to make the purpose, technical solution and beneficial effects of the present invention clearer, the present invention provides the following drawings for illustration:

[0064] Figure 1 It is a structural schematic diagram of an embodiment of a double-sided walking hexapod robot with a dart system according to the present invention;

[0065] Figure 2 is an axonometric view of the double-sided walking hexapod robot with a dart system according to the present embodiment;

[0066] Figure 3 It is a structural diagram of the dart system;

[0067] Figure 4 This is the axonometric drawing of the dart system;

[0068] Figure 5 The schematic diagram of the structure of the dart cable is shown in FIG.

[0069] Figure 6 This is a cross-sectional view of the dart;

[0070] Figure 7 It is a three-dimensional diagram of the double-sided walking mechanism;

[0071] Figure 8 It is a top view of the double-sided walking mechanism;

[0072] Fig. 9 It is a side view of the double-sided walking mechanism;

[0073] Fig.10 This is the principle block diagram of the robot control system;

[0074] Fig.11 It is a schematic diagram of the action process when executing the obstacle crossing mode.

[0075] Description of reference numerals:

[0076] 100-body; 110-robot control system; 111-camera; 112-controller module; 113-data acquisition module; 114-first motor control module; 115-second motor control module; 116-third motor control module; 117-internal motor control module; 118-transmitting motor control module; 119-winding motor control module; 120-driving cylinder control module; 121-signal transmitting module; 122-power module; 123-signal receiving module;

[0077] 200-double-sided walking mechanism; 201-walking leg; 202-double-sided walking foot; 202a-foot; 202b-connecting part; 203-leg connecting piece; 204-first rotating shaft; 205-first motor; 206-active bevel gear; 207-driven bevel gear; 208-second rotating shaft; 209-second motor; 210-active cylindrical gear; 211-driven cylindrical gear; 212-third rotating shaft; 213-bearing; 214-third motor; 215-synchronous belt mechanism; 216-bearing;

[0078] 300-cable dart system; 301-mounting seat; 302-locking buckle; 303-launching tube; 304-rotating arm; 305-driving cylinder; 306-telescopic rod; 307-first rotating axis; 308-second rotating axis; 309-launching wheel; 310-launching motor; 311-notch; 312-rope; 313-winding shaft; 314-winding motor; 315-rotating support; 316-environmental perception module; 320-cable dart; 321-vertebral body; 322-cone tip; 323-mooring hole; 324-internal motor; 325-power supply; 326-eccentric block; 327-friction strip. DETAILED DESCRIPTION

[0079] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0080] like Figure 1-2 As shown, the double-sided walking hexapod robot with a dart system in this embodiment includes a body 100, and six double-sided walking mechanisms 200 are arranged on the body 10. Two dart systems 300 with opposite launching directions are installed on the body 100, and the two dart systems 300 are installed on the upper and lower sides of the body 100 respectively.

[0081] like Figure 3-4As shown, in this embodiment, the dart system 300 includes a mounting seat 301, which is fixedly connected to the fuselage 100, and a dart launching assembly and a rope winding assembly are installed on the mounting seat 301. The mounting seat 301 of this embodiment is provided with a lock 302, and correspondingly, a lock opening (not shown in the figure) matched with the lock 302 is provided on the fuselage 100, so that the mounting seat 301 can be installed on the fuselage 100 through the clamping and matching relationship between the lock 302 and the lock opening to achieve the purpose of installing the mounting seat 301 on the fuselage 100.

[0082] In this embodiment, the dart launching assembly includes a launching tube 303 and a dart launching drive mechanism, and the launching tube 303 is used to accommodate the dart 320. The launching tube 303 is fixedly mounted on the mounting plate 301. The dart launching drive mechanism of this embodiment includes a rotating arm 304 and a driving cylinder 305 rotatably mounted on the mounting plate 301, the rear end of the rotating arm 304 is rotatably matched with the mounting plate 301 through a first rotating shaft 307, the telescopic rod 306 of the driving cylinder 305 is rotatably matched with the middle part of the rotating arm 304 through a second rotating shaft 308, and the front end of the rotating arm 304 is provided with a launching wheel 309 and a launching motor 310 for driving the launching wheel 309 to rotate. Specifically, the first rotating shaft 307 and the second rotating shaft 308 of this embodiment are perpendicular to the axis of the launch tube 303, the axis of the launch wheel 309 is inclined relative to the axis of the launch tube 303, and a notch 311 is provided on the launch tube 303. The notch 311 is used to expose the contact part between the dart 320 and the launch wheel 309. In this way, rotating the rotating arm 304 can make the dart 320 contact and cooperate with the launch wheel 309. In this embodiment, the driving cylinder 305 is an electric cylinder.

[0083] In this embodiment, the rope winding mechanism includes a winding shaft 313 for winding the rope 312 and a winding motor 314 installed on the mounting plate 301. One end of the winding shaft 313 is installed on the mounting plate 301 through a rotating support 315, and the other end is transmission-connected to the winding motor 314.

[0084] In the preferred implementation of this embodiment, an environment sensing module 316 is provided on the mounting base 301, and the environment sensing module 316 is used to collect the distance data of the target launch point and the material information of the target obstacle. Specifically, the environment sensing module 316 can be a radio radar, a laser radar or an ultrasonic sensor, etc., which will not be described in detail.

[0085] like Figure 5-6As shown, the cable dart 320 of this embodiment includes a vertebral body 321, a cone tip 322 is installed at the front end of the vertebral body 321, and the cone tip 322 is detachably installed on the vertebral body 321 and is made of hard material. The rear end of the vertebral body 321 is provided with a mooring hole 323 for connecting with the rope 40, that is, the rope 312 is connected with the mooring hole 323. An eccentric load assembly is arranged inside the vertebral body 31 of this embodiment. Specifically, the eccentric load assembly includes an internal motor 324 and a power supply 325 for power supply. The internal motor 324 is coaxially arranged with the vertebral body 321, and an eccentric block 326 is installed on the output shaft of the internal motor 324. The internal motor 324 is started to drive the eccentric block 326 to rotate around the axis of the vertebral body 321, and the centrifugal force generated by the eccentric block 326 can drive the vertebral body 321 and the entire cable dart 320 to vibrate.

[0086] In the preferred implementation of this embodiment, friction strips 327 cooperating with the launching wheel 309 are arranged at intervals on the outer wall of the cone 321. In this embodiment, the friction strips 327 are arranged spirally around the axis of the cone 321. In this way, by providing the friction strips 327, on the one hand, the friction force between the launching wheel 309 can be increased, and on the other hand, the direction of the friction force between the launching wheel 309 can be adjusted by the friction strips 327, further increasing the angular momentum of the cable dart 320 rotating around its axis, so that the flight posture of the cable dart after being launched is more stable.

[0087] Specifically, according to different usage scenarios, the cone tip 32 can be replaced. For example, the cone tip 32 can be a pointed cone or a hammer, etc., which will not be described in detail.

[0088] like Figure 7-9 As shown, in this embodiment, the double-sided walking mechanism 200 includes a walking leg 201 and a double-sided walking foot 202, one end of the walking leg 201 is connected to the fuselage 100 through a leg connecting piece 203, and the second end of the walking leg 201 is connected to the double-sided walking foot 202. Specifically, in order to achieve flexible adjustment of the posture of the fuselage 100, in this embodiment, a first walking mechanism for driving the walking leg 201 to swing around a first direction is provided on the leg connecting piece 203, a second walking mechanism for driving the walking leg 201 to swing around a second direction is provided between the fuselage 100 and the leg connecting piece 203, and a foot walking mechanism for driving the double-sided walking foot 202 to rotate around a rotating shaft parallel to the first direction is provided on the walking leg 201. Specifically, in this embodiment, the first direction and the second direction are perpendicular to each other, the first direction is perpendicular to the axis of the fuselage 100, and the second direction is parallel to the axis of the fuselage 100.

[0089] Specifically, in this embodiment, the leg connecting member 203 is provided with a first rotating shaft 204 that rotates with the leg connecting member 203 and is parallel to the first direction, and the walking leg 201 rotates synchronously with the first rotating shaft 204. The first walking mechanism of this embodiment includes a first motor 205 installed on the leg connecting member 203, and the first motor 205 is transmission-connected to the first rotating shaft 204. In this embodiment, the output shaft of the first motor 205 is perpendicular to the first rotating shaft 204, and the first motor 205 of this embodiment is transmission-connected to the first rotating shaft 204 through a driving bevel gear 206 and a driven bevel gear 207 that mesh with each other.

[0090] Specifically, in this embodiment, the fuselage 100 is provided with a second rotating shaft 208 that is rotatably matched with the fuselage 100 and parallel to the second direction, the second rotating shaft 208 is rotatably matched with the fuselage 100 through a bearing 216, the leg connecting member 203 rotates synchronously with the second rotating shaft 208, and the second walking mechanism of this embodiment includes a second motor 209 installed on the fuselage 100, and the second motor 209 is transmission-connected to the second rotating shaft 208. Specifically, the output shaft of the second motor 209 of this embodiment is parallel to the second rotating shaft 208, and the second motor 209 and the second rotating shaft 208 are transmission-connected through a driving cylindrical gear 210 and a driven cylindrical gear 211 that mesh with each other.

[0091] Specifically, in this embodiment, the walking leg 201 is provided with a third rotating shaft 212 that rotates with the walking leg 201 and is parallel to the first direction. The walking leg 201 rotates synchronously with the third rotating shaft 212, and the third rotating shaft 212 rotates with the walking leg 201 through a bearing 213. The foot walking mechanism of this embodiment includes a third motor 214 installed on the walking leg 201, and the third motor 214 is transmission-connected with the third rotating shaft 212. Specifically, in this embodiment, the third motor 214 is installed in the middle of the walking leg 201, and the output shaft of the third motor 214 is parallel to the third rotating shaft 212, and the third motor 214 and the third rotating shaft 212 are transmission-connected through a synchronous belt mechanism 215.

[0092] In this embodiment, the bifacial walking foot 202 includes two symmetrically arranged feet 202a, a connecting portion 202b is provided between the two feet 202a, and the connecting portion 202b is connected to the walking leg 201. In this way, the bifacial walking foot 202 can achieve the technical purpose of walking in two directions through the two feet 202a.

[0093] In a preferred implementation manner of this embodiment, cameras 111 are respectively provided on the upper and lower sides of the fuselage 100 , and the cameras 111 are distributed around the fuselage 100 . The cameras 111 are used to collect image data of the surrounding environment.

[0094] In this embodiment, a robot control system 110 is provided in the body 100, and the robot control system 110 includes a controller module 112, a data acquisition module 113, a first motor control module 114, a second motor control module 115, a third motor control module 116, an internal motor control module 117, a transmitting motor control module 118, a winding motor control module 119, a signal transmitting module 121, and a power supply module 122 for power supply. Fig.10 As shown. Specifically, the data acquisition module 113, the first motor control module 114, the second motor control module 115, the third motor control module 116, the internal motor control module 117, the launch motor control module 118, the winding motor control module 119, the drive cylinder control module 120, the signal transmission module 121 and the power supply module 122 for power supply are all electrically connected to the controller module 112. Specifically, the first motor control module 114 controls the first motor 205 to move according to the first motor control instruction issued by the controller module 112. The second motor control module 115 controls the second motor 209 to move according to the second motor control instruction issued by the controller module 112. The third motor control module 116 controls the third motor 214 to move according to the third motor control instruction issued by the controller module 112. The launch motor control module 118 controls the launch motor 310 to move according to the launch instruction issued by the controller module 112. The winding motor control module 119 controls the winding motor 314 to rotate forward to release the rope 312 or reverse to retract the rope 312 according to the winding control instruction issued by the controller module 112. The drive cylinder control module 120 controls the telescopic rod 306 of the drive cylinder 305 to extend or shorten according to the control instruction issued by the controller module 112.

[0095] In this embodiment, the internal motor control module 117 controls the internal motor 324 according to the internal motor control instruction issued by the controller module 112. In this embodiment, the internal motor control module 117 is arranged in the vertebral body 321, and the vertebral body 321 is also provided with a signal receiving module 123 for receiving the internal motor control instruction issued by the signal transmitting module 121. Specifically, the signal receiving module 123 can adopt a wireless communication receiving module, and correspondingly, the signal transmitting module 121 is set as a wireless communication transmitting module; of course, the signal receiving module 123 can also adopt a wired communication module, in which case a communication line can be set in the rope 312, one end of the communication line is connected to the signal receiving module 123, and the other end is connected to the signal transmitting module 121. In this way, the controller module 112 can control the internal motor 324 through the internal motor control module 117. In this embodiment, the signal receiving module 123 adopts a wireless communication receiving module, and the signal transmitting module 121 is set as a wireless communication transmitting module.

[0096] In this embodiment, an environment sensing module 316 is provided on the mounting base 301, and the data acquisition module 103 collects the distance data of the target launch point and the material information of the target obstacle through the environment sensing module 316. In this embodiment, cameras 111 are provided on the upper and lower sides of the fuselage 100, and the data acquisition module 103 collects image data of the surrounding environment through the cameras 111.

[0097] In conjunction with the above-mentioned two-sided walking hexapod robot with a rope and dart system in this embodiment, the specific implementation methods of the obstacle surmounting, obstacle moving and obstacle breaking methods of the two-sided walking hexapod robot with a rope and dart system of the present invention are described in detail below.

[0098] The obstacle crossing, obstacle moving and obstacle breaking methods of the double-sided walking hexapod robot with a dart system in this embodiment include an obstacle crossing mode, an obstacle moving mode and an obstacle breaking mode.

[0099] Specifically, Fig.11 As shown, when the obstacle crossing mode is executed, the following steps are included.

[0100] 11) The size and shape of the obstacle ahead are identified through the environment perception module 316, and a first anchor point located above the obstacle is selected.

[0101] 12) Adjust the posture of the two-sided walking hexapod robot so that the launching direction of the first dart system located above the fuselage 100 is aligned with the selected first anchor point.

[0102] 13) The first dart system launches the dart 320 and hits the first anchor point, and the dart 320 is anchored to the first anchor point.

[0103] 14) The winding motor 314 of the first cable dart system drives the winding shaft 313 to retract the rope 312, and pulls the two-sided walking hexapod robot to the first anchor point.

[0104] 15) The environment behind the obstacle is identified through the environment perception module 316, and a second anchor point located behind the obstacle is selected.

[0105] 16) Adjust the posture of the two-sided walking hexapod robot so that the launching direction of the second dart system located below the fuselage 100 is aligned with the selected second anchor point.

[0106] 17) The second dart system launches the dart 320 and hits the second anchor point, and the dart 320 is anchored to the second anchor point.

[0107] 18) The winding motor 314 of the second dart system is used to drive the winding shaft 313 to recycle the rope 312, and the winding motor 314 of the first dart system is used to drive the winding shaft 313 to release the rope 312, thereby driving the two-sided walking hexapod robot to move toward the rear of the obstacle and cross the obstacle.

[0108] 19) Start the internal motors 324 in the two dart cables 320 to drive the eccentric block 326 to rotate, causing the dart cables 320 to vibrate and gradually loosen from the corresponding first anchor point and the second anchor point; start the winding motors 314 in the first dart cable system and the second dart cable system to retract the rope 312, causing the two dart cables 320 to detach from the corresponding first anchor point and the second anchor point respectively and be retracted into the corresponding launching tube 303.

[0109] When executing the obstacle removal mode, the following steps are included.

[0110] 21) Adjust the posture of the two-sided walking hexapod robot so that the launching direction of the second dart system located under the fuselage 100 is aimed at the ground.

[0111] 22) The second dart system launches the dart 320 and anchors the dart 320 in the ground.

[0112] 23) Adjust the posture of the two-sided walking hexapod robot so that the launching direction of the first dart system located above the fuselage 100 is aimed at the target obstacle.

[0113] 24) The first dart system launches the dart 320 and hits the target obstacle, and the dart 320 is nailed to the target obstacle.

[0114] 25) The winding motor 314 of the first dart system drives the winding shaft 313 to retract the rope 312, and the pulling force of the rope 312 is used to move the obstacle.

[0115] 26) After the target obstacle moves to the set position, the internal motor 324 in the first dart system is started to drive the eccentric block 326 to rotate, so that the dart 320 vibrates and gradually loosens from the target obstacle; the winding motor 314 in the first dart system is started to retract the rope 312, so that the dart 320 is detached from the target obstacle and recovered into the launching tube 303.

[0116] 27) Loop through steps 23) to 26) until all target obstacles are removed.

[0117] 28) Start the internal motor 324 in the second dart system to drive the eccentric block 326 to rotate, so that the dart 320 vibrates and gradually loosens from the ground; start the winding motor 314 in the second dart system to retract the rope 312, so that the dart 320 is detached from the ground and recovered into the launching tube 303.

[0118] When the obstacle breaking mode is executed, the following steps are included.

[0119] 31) Adjust the posture of the two-sided walking hexapod robot so that the launching direction of the second dart system located under the fuselage 100 is aimed at the ground.

[0120] 32) The second dart system launches the dart 320 and anchors the dart 320 in the ground.

[0121] 33) Adjust the posture of the two-sided walking hexapod robot so that the launching direction of the first dart system located above the fuselage 100 is aimed at the target obstacle.

[0122] 34) The first dart system launches the dart 320 and hits the target obstacle, and uses the impact of the dart 320 to destroy the target obstacle.

[0123] 35) The winding motor 314 of the first dart system drives the winding shaft 313 to retract the rope 312, so that the dart 320 is separated from the target obstacle and retracted into the launching tube 303.

[0124] 36) Loop through steps 33) to 35) until all target obstacles are destroyed.

[0125] 37) Start the internal motor 324 in the second dart system to drive the eccentric block 326 to rotate, so that the dart 320 vibrates and gradually loosens from the ground; start the winding motor 314 in the second dart system to retract the rope 312, so that the dart 320 is detached from the ground and recovered into the launching tube 303.

[0126] Specifically, in this embodiment, the method for launching the cable dart is as follows: start the launch motor 310 to drive the launch wheel 309 to rotate at a set speed. Start the drive cylinder 305, so that the telescopic rod 306 of the drive cylinder 305 extends and drives the rotating arm 304 to rotate toward the launch tube 303, until the launch wheel 309 contacts the cable dart 320 and drives the cable dart 320 to be launched toward the shooting point. During the time period from the start of the rotation of the rotating arm 304 toward the launch tube 303 to the time when the tail end of the cable dart 320 leaves the launch tube 303, start the winding motor 314 to drive the winding shaft 313 to rotate forward and release the rope 312; after the cable dart 320 is launched from the launch tube 303, the telescopic rod 306 of the drive cylinder 305 is retracted and drives the rotating arm 304 to rotate to the initial position away from the launch tube 303.

[0127] The above-described embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Equivalent substitutions or changes made by those skilled in the art based on the present invention are within the protection scope of the present invention. The protection scope of the present invention shall be subject to the claims.

Claims

1. A double-sided walking hexapod robot with a dart system, comprising a body, on which six double-sided walking mechanisms are arranged; characterized in that: Two dart systems with opposite firing directions are installed on the fuselage, and the two dart systems are installed on the upper and lower sides of the fuselage respectively; The dart cable system comprises a mounting seat, the mounting seat is fixedly connected to the fuselage, and a dart cable launching assembly and a rope winding assembly are installed on the mounting seat; The dart launching assembly comprises a launching tube for accommodating the dart and a dart launching driving mechanism; the launching tube is fixedly mounted on the mounting seat; the dart launching driving mechanism comprises a rotating arm and a driving cylinder rotatably mounted on the mounting seat, the rear end of the rotating arm is rotatably engaged with the mounting seat via a first rotating shaft, the telescopic rod of the driving cylinder is rotatably engaged with the middle part of the rotating arm via a second rotating shaft, a launching wheel and a launching motor for driving the launching wheel to rotate are provided at the front end of the rotating arm; the first rotating shaft and the second rotating shaft are both perpendicular to the axis of the launching tube, the axis of the launching wheel is inclined relative to the axis of the launching tube, and a notch is provided on the launching tube for exposing the contact portion between the dart and the launching wheel; The rope winding mechanism comprises a winding shaft for winding the rope and a winding motor mounted on the mounting seat, one end of the winding shaft is mounted on the mounting seat through a rotating support, and the other end is drivingly connected to the winding motor; The dart cable includes a dart body, a mooring hole connected to the rope is provided in the dart body, and an eccentric load component is provided in the dart body; the eccentric load component includes an internal motor and a power supply for power supply, and an eccentric block is installed on the output shaft of the internal motor.

2. The double-sided walking hexapod robot with a dart system according to claim 1, characterized in that: The dart body comprises a vertebral body, a cone tip is arranged at the front end of the vertebral body, the cone tip is detachably mounted on the vertebral body and is made of hard material, and the mooring hole is arranged at the rear end of the vertebral body.

3. The double-sided walking hexapod robot with a dart system according to claim 1, characterized in that: Friction strips cooperating with the launching wheel are arranged at intervals on the outer wall of the vertebral body, and the friction strips are arranged spirally around the axis of the vertebral body.

4. The double-sided walking hexapod robot with a dart system according to any one of claims 1 to 3, characterized in that: The double-sided walking mechanism comprises a walking leg and a double-sided walking foot, one end of the walking leg is connected to the fuselage through a leg connecting piece, and the second end of the walking leg is connected to the double-sided walking foot; The leg connecting member is provided with a first walking mechanism for driving the walking leg to swing around a first direction, and a second walking mechanism for driving the walking leg to swing around a second direction is provided between the fuselage and the leg connecting member; the walking leg is provided with a foot walking mechanism for driving the double-sided walking foot to rotate around a rotating shaft parallel to the first direction; The first direction and the second direction are perpendicular to each other, the first direction is perpendicular to the axis of the fuselage, and the second direction is parallel to the axis of the fuselage.

5. The double-sided walking hexapod robot with a dart system according to claim 4, characterized in that: The leg connecting member is provided with a first rotating shaft which is rotatably matched with the leg connecting member and is parallel to the first direction, the walking leg rotates synchronously with the first rotating shaft, the first walking mechanism comprises a first motor mounted on the leg connecting member, and the first motor is transmission-connected to the first rotating shaft; The body is provided with a second rotating shaft which is rotatably matched with the body and parallel to the second direction, the leg connecting member rotates synchronously with the second rotating shaft, the second walking mechanism includes a second motor mounted on the body, and the second motor is transmission-connected to the second rotating shaft; The walking leg is provided with a third rotating shaft which is rotatably matched with the walking leg and parallel to the first direction. The walking leg rotates synchronously with the third rotating shaft. The foot walking mechanism includes a third motor installed on the walking leg, and the third motor is drivingly connected to the third rotating shaft.

6. The double-sided walking hexapod robot with a dart system according to claim 4, characterized in that: The double-sided walking foot comprises two symmetrically arranged feet, a connecting part is provided between the two feet, and the connecting part is connected to the walking leg.

7. The double-sided walking hexapod robot with a dart system according to claim 5, characterized in that: A robot control system is provided in the fuselage, and the robot control system includes a controller module, a data acquisition module, a first motor control module, a second motor control module, a third motor control module, an internal motor control module, a signal transmission module and a power supply module for power supply; the data acquisition module, the first motor control module, the second motor control module, the third motor control module, the internal motor control module and the signal transmission module are all electrically connected to the controller module; The first motor control module controls the action of the first motor according to the first motor control instruction issued by the controller module; The second motor control module controls the action of the second motor according to the second motor control instruction issued by the controller module; The third motor control module controls the action of the third motor according to the third motor control instruction issued by the controller module; The internal motor control module controls the internal motor action according to the internal motor control instruction issued by the controller module; the internal motor control module is arranged in the vertebral body, and the vertebral body is also provided with a signal receiving module for receiving the internal motor control instruction issued by the signal transmitting module; An environmental perception module is provided on the mounting base, and the data acquisition module collects the distance data of the target launch point and the material information of the target obstacle through the environmental perception module; cameras are respectively provided on the upper and lower sides of the fuselage, and the data acquisition module collects image data of the surrounding environment through the cameras.

8. The double-sided walking hexapod robot with a dart system according to claim 7, characterized in that: The signal receiving module adopts a wireless communication receiving module, or the signal receiving module adopts a wired communication module, and a communication line connected to the signal receiving module is arranged in the rope.

9. A method for overcoming, moving and breaking obstacles of a double-sided walking hexapod robot with a dart system, characterized in that: Including obstacle crossing mode, obstacle moving mode and obstacle breaking mode; When executing the obstacle crossing mode, the following steps are included: 11) Identify the size and shape of the obstacle ahead through the environment perception module and select the first anchor point located above the obstacle; 12) adjusting the posture of the two-sided walking hexapod robot so that the launching direction of the first dart system located above the body is aligned with the selected first anchor point; 13) The first dart system launches the dart and hits the first anchor point, and the dart is anchored to the first anchor point; 14) Using the winding motor of the first cable dart system to drive the winding shaft to recycle the rope, the double-sided walking hexapod robot is pulled up to the first anchor point; 15) Identify the environment behind the obstacle through the environment perception module and select the second anchor point behind the obstacle; 16) Adjusting the posture of the two-sided walking hexapod robot so that the launching direction of the second dart system located under the fuselage is aligned with the selected second anchor point; 17) The second dart system launches the dart and hits the second anchor point, and the dart is anchored to the second anchor point; 18) using the winding motor of the second dart system to drive the winding reel to recycle the rope, and at the same time using the winding motor of the first dart system to drive the winding reel to release the rope, driving the two-sided walking hexapod robot to move toward the rear of the obstacle and cross the obstacle; 19) starting the internal motors of the first dart cable system and the second dart cable system to drive the eccentric block to rotate, so that the dart cable vibrates and gradually loosens from the corresponding first anchor point and the second anchor point; Starting the winding motors in the first dart cable system and the second dart cable system to retract the ropes, so that the two dart cables are detached from the corresponding first anchor point and the second anchor point respectively and are retracted into the corresponding launching tubes; When executing the barrier removal mode, the following steps are included: 21) Adjust the posture of the two-sided walking hexapod robot so that the launching direction of the second dart system located under the body is directed toward the ground; 22) The second dart system launches the dart and anchors the dart in the ground; 23) Adjusting the posture of the two-sided walking hexapod robot so that the launching direction of the first dart system located above the body is aimed at the target obstacle; 24) The first dart system launches the dart and hits the target obstacle, and the dart is nailed to the target obstacle; 25) using the winding motor of the first dart system to drive the winding shaft to recycle the rope, and using the tension of the rope to drive the obstacle to move; 26) After the target obstacle moves to the set position, the internal motor in the first dart cable system is started to drive the eccentric block to rotate, so that the dart cable vibrates and gradually loosens from the target obstacle; Starting the winding motor in the first dart cable system to retract the rope, so that the dart cable is separated from the target obstacle and is retracted into the launch tube; 27) looping through steps 23) to 26) until all target obstacles are removed; 28) starting the internal motor in the second dart cable system to drive the eccentric block to rotate, causing the dart cable to vibrate and gradually loosen from the ground; starting the winding motor in the second dart cable system to retract the rope, causing the dart cable to detach from the ground and be retracted into the launch tube; When executing the obstacle breaking mode, the following steps are included: 31) Adjust the posture of the two-sided walking hexapod robot so that the launching direction of the second dart system located under the body is aimed at the ground; 32) The second dart system launches the dart and anchors the dart in the ground; 33) Adjusting the posture of the two-sided walking hexapod robot so that the launching direction of the first dart system located above the body is aimed at the target obstacle; 34) The first dart system launches the dart and hits the target obstacle, and destroys the target obstacle by the impact of the dart; 35) using the winding motor of the first dart system to drive the winding shaft to recycle the rope, so that the dart is separated from the target obstacle and recovered into the launching tube; 36) looping through steps 33) to 35) until all target obstacles are destroyed; 37) starting the internal motor in the second dart cable system to drive the eccentric block to rotate, causing the dart cable to vibrate and gradually loosen from the ground; The winding motor in the second dart cable system is started to retract the rope, so that the dart cable is detached from the ground and recovered into the launching tube.

10. The obstacle surmounting, obstacle moving and obstacle breaking method of a double-sided walking hexapod robot with a dart system according to claim 9, characterized in that: The method of launching the dart is: Start the launch motor to drive the launch wheel to rotate at the set speed; The drive cylinder is started to extend the telescopic rod of the drive cylinder and drive the rotating arm to rotate toward the launching tube until the launching wheel contacts the dart and drives the dart to be launched toward the shooting point; During the period from the start of the rotation of the rotating arm toward the launching tube to the moment when the tail end of the dart leaves the launching tube, the winding motor is started to drive the winding shaft to rotate forward and release the rope; after the dart is shot out of the launching tube, the telescopic rod of the driving cylinder is retracted and the rotating arm is driven to rotate back to the launching tube to the initial position.

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