127 results about "Hexapod" patented technology

The invention belongs to the technical field of mobile robots, and particularly relates to an amphibious hexapod robot which comprises a robot body, six walking feet, a protection box, propellers, a multi-sensor system and a central control unit. The six walking feet are arranged on the two sides of the robot body, and a waterproof driving joint is arranged at the tail end of each foot. The protection box is arranged at the root of the walking foot and internally integrated with propellers; the sensor system comprises a water depth sensor, an attitude sensor and a grounding detection module; the central control unit is used for collecting sensor data in real time, judging whether the current environment is a land or a water area, automatically switching a walking mode or a water propulsion mode, and meanwhile adaptively adjusting gaits and the rotating speed of propellers according to the water depth and the terrain. The robot has environment perception, mode decision, gait generation, grounding prevention protection and energy optimization strategies, full-autonomous and high-adaptability movement in the land and water environment is achieved, and the working capacity and safety of the robot in the complex environment are improved.

The invention discloses a paddle-leg hybrid driven underwater adhesion robot, and relates to the technical field of underwater robots, propeller thruster driving, six-foot crawling movement and hydrogel bionic suckers of foot bottom equipment respectively have the advantages of long-distance cruise driving, stable crawling in unstructured terrain and reliable adhesion detection on near wall surfaces. Therefore, the adaptability problem of a single-mode underwater robot in a complex operation scene is solved. According to the invention, the six groups of multi-degree-of-freedom mechanical feet cooperate with the control system through the modular driving units, so that the robot can realize multi-modal motion functions such as seabed crawling, obstacle crossing and climbing, posture adjustment and the like; the robot can stably crawl on a vertical surface or an inverted surface through cooperation between the hydrogel bionic suction cups arranged at the foot ends and the six-foot crawling gaits. Through vector combination of the three vertical propellers and the two horizontal propellers, the robot can meet the multi-degree-of-freedom motion control requirements of advancing, retreating, ascending, sinking, yawing, pitching, pitching and hovering. According to the paddle leg hybrid drive underwater adhesion robot, the underwater hybrid drive potential is developed to the maximum extent, the underwater maneuverability is improved in various challenging underwater environments, and the underwater robot is promoted to develop towards multiple modes and high efficiency.

The invention discloses a multi-mode moving hexapod robot and a control method thereof in the field of robots. The multi-mode moving hexapod robot comprises a robot body and a control system. The robot body comprises mechanical arms, a robot body, six mechanical legs and six replaceable foot mechanisms, the mechanical legs are symmetrically installed on the two sides of the robot body, three mechanical legs are installed on each side, the mechanical arms are installed on the upper surface of the robot body, and the foot mechanisms are installed on the mechanical legs in a one-to-one mode. The foot mechanism is selected from one of a suction cup, a supporting foot and a combined module, the combined module comprises a Mecanum wheel and a driving motor with an encoder, and the driving motor with the encoder is used for driving the Mecanum wheel to rotate. According to the multi-mode moving hexapod robot and the control method thereof, through the deformable structural design, the multi-mode moving hexapod robot has the advantages of a wheeled robot with excellent movement performance and a legged robot capable of adapting to various terrains.

The invention discloses a multi-constraint-based multi-objective optimization design method for a hexapod robot, and aims to solve the problem of task failure possibly caused by driving overload, structural interference or foot end slipping when a foot robot moves and operates in a field environment due to the fact that a real field topographic condition is not considered in a foot robot optimization method. According to the method, the optimal body size of the hexapod robot meeting the terrain trafficability constraint is calculated by utilizing the terrain trafficability constraint in combination with the to-be-executed terrain conditions, terrain indexes and to-be-optimized geometric parameters of the hexapod robot, and then the optimal body size of the hexapod robot meeting the terrain trafficability constraint is calculated according to the leg size constraint of the hexapod robot; taking the minimum value of the joint peak value stress and the joint peak value power under the leg size constraint as an optimization target, and obtaining the optimal leg size by using a non-dominated sorting algorithm. Therefore, the optimal structure of the hexapod robot is obtained. According to the method, the body size and the leg structure size of the hexapod robot are optimized through terrain adaptability constraints and multiple real physical constraints, and the method belongs to the field of robot design.

The invention discloses a leg joint structure of a foot type robot. The leg joint structure comprises a motor assembly, a thigh shell, a connecting rod transmission assembly, a shank and a foot end. The motor assembly drives the shank to rotate relative to the thigh through the connecting rod transmission assembly. In the connecting rod transmission assembly, a speed reduction connecting rod is introduced between a driving crank and a thigh connecting rod, so that the transmission angle of the driving crank and a next-stage connecting rod is larger, and a motor can drive a shank to move with smaller torque; by designing equal-length speed reduction connecting rods at the two ends of the thigh connecting rod, the transmission angles of a driving crank and a next-stage connecting rod as well as a driven crank and an upper-stage connecting rod in the movement process are improved; and meanwhile, two pairs of parallel pin roller structures are mounted on a thigh shell to limit a thigh connecting rod to only do translational motion, so that the leg joint structure provided by the invention has a larger space movement range before a driving crank and a driven crank reach a dead point position compared with a leg joint without introducing a speed reducing connecting rod and pin roller limiting.

The invention relates to the technical field of robots, in particular to a hexapod robot based on heterogeneous bionic foot groups, which comprises a robot body, four advancing legs and two buffer legs, one marching leg, one buffering leg and one marching leg form a foot group in sequence, and the two foot groups are oppositely mounted on the left side and the right side of the robot body; the advancing leg and the buffering leg are respectively formed by movably connecting a plurality of sections of joint limbs; the marching leg comprises a tail end marching joint, the middle of the tail end marching joint is connected with a previous joint limb, and a track is installed on the tail end marching joint in a rolling mode around the limb and used for making contact with the ground; the buffer legs flexibly move between the machine body and the ground; the problem that an existing hexapod robot structure generally has difficulty in cooperative coexistence of terrain adaptive capacity, movement efficiency and load performance (namely bearing capacity) is solved.

The invention discloses a hexapod robot leg and arm multiplexing control method and device based on reinforcement learning, and relates to the field of motion control. The method comprises the following steps: acquiring observation information of a target hexapod robot; inputting the observation information into the control strategy model to obtain an expected joint angle of the target hexapod robot; the control strategy model is obtained by performing strategy updating on a training framework based on a value network by adopting a reinforcement learning method according to a constructed multi-task training environment; the training architecture is determined based on privilege learning of teachers and students; the value network comprises a shared feature layer and a multi-task head which are connected in sequence; the training architecture comprises a state estimation encoder, a topographic information encoder, a privilege information encoder, a historical information encoder and an ontology network; and a PD control method is adopted to determine the joint torque based on the expected joint angle so as to control leg-arm multiplexing of the target hexapod robot. According to the invention, leg and arm multiplexing control of the hexapod robot can be realized.

Disclosed are an apparatus and a method for controlling a takeoff / landing pad structure by using a hexapod mechanism. The method for controlling a takeoff / landing pad structure by using a hexapod mechanism comprises the steps of: receiving eVTOL information from an eVTOL if the eVTOL prepares for landing; predicting the impact weight to be applied to the takeoff / landing pad structure if the eVTOL touches down, by using the received eVTOL information; calculating a first spring stiffness and a first damper damping required for the suspension according to the predicted impact weight; and controlling the suspension by setting the spring stiffness and the damper damping of the suspension with the calculated first spring stiffness and first damper damping.

The invention provides a cooperative control method for a hexapod robot and a bionic mechanical arm, and the method comprises the steps: firstly transmitting a laser pulse through a laser radar at high frequency, and generating three-dimensional point cloud data based on a plurality of distance measurement points in a space; performing denoising, registration, filtering, simplification and data fusion on the data to construct a complete three-dimensional scene model; generating a digital topographic map containing terrain surface and obstacle information through feature extraction; the main control component controls the movement of the multi-joint legs based on a terrain model: in the walking stage, in combination with global path planning and a local obstacle avoidance algorithm, static obstacle avoidance and dynamic obstacle real-time avoidance are realized; and after the robot reaches the vicinity of the target, the main control component controls the mechanical arm of the robot to grab, and the angle of each joint of the mechanical arm is adjusted by utilizing path planning and an obstacle avoidance algorithm, so that the mechanical arm avoids the obstacle, and the mechanical arm can accurately grab the target object.

The invention belongs to the field of robot path planning. In order to solve the problems that an existing path planning method is insufficient in adaptability when a single leg of a hexapod robot fails, and terrain constraints and motion ability are not fully coupled, the invention provides a hexapod robot path planning method for a single leg failure fault based on a risk degree model. The method specifically comprises the steps that firstly, the extreme movement capacity of the robot in slopes, obstacles and gully terrains in a left front leg / left middle leg failure mode is analyzed, secondly, according to the extreme movement capacity and terrain geometric constraints, a risk degree model of coupling of the terrain geometric constraints and fault states is designed, and a risk degree map is formed; robot motion threat degrees are divided; and finally, designing an improved A * algorithm based on the obtained risk degree model, taking the risk degree as a path cost core index, realizing global safe path planning of the fault hexapod robot in a multi-terrain superposition scene, and remarkably improving environmental adaptability and task continuity.

The invention discloses an intelligent inspection method and system for an all-terrain self-adaptive hydroelectric AI bionic robot, and relates to the technical field of robots, and the method comprises the steps: constructing a terrain stiffness matrix based on a laser radar, an IMU and a foot end force sensor, and driving a bionic joint group to carry out the intelligent switching of a wheel mode, a six-foot gait mode and an adsorption mode; for equipment defect identification, visible light, infrared and laser point cloud data are fused, and crack / corrosion classification is realized by adopting a contrast learning migration model; a dynamic risk grid map is generated in combination with the equipment fault history, the environment corrosion rate and the task emergency degree, the inspection path is optimized through an MOEA / D-TOPSIS algorithm, and multi-target balance of energy consumption and path length is achieved on the premise that the coverage rate is guaranteed; the positioning system integrates Beidou RTK, UWB anchor points and inertial navigation, and combines a dynamic SLAM enhancement technology, so that centimeter-level positioning precision under strong electromagnetic interference and satellite rejection environments is ensured, and an all-weather and all-terrain intelligent inspection solution is provided for hydroelectric facilities.

The invention belongs to the related technical field of robot control, and discloses a generalized impedance index integral sliding mode control method and device for a hexapod robot. The method comprises the steps that a hexapod robot leg joint space dynamic model is established and mapped to a Cartesian space, and modeling uncertainty and disturbance influence are considered; constructing a generalized impedance model fusing inertia, damping, rigidity and contact force tracking error weight; and defining an auxiliary variable based on the impedance error, designing an exponential global nonlinear integral sliding mode surface and a novel reaching law, and forming a controller. The device comprises a trajectory planner, a kinematics resolving module, a control decision module and other core components, and multi-module cooperation is achieved through inverse dynamic solution and a driver interface. According to the invention, the sliding mode control and the impedance model are integrated, so that accurate tracking control of the foot end contact force and position of the hexapod imported fire ant robot can be realized under the condition that modeling uncertainty and disturbance exist.

The invention discloses a training method for the motion strategy of a blind hexapod robot, belonging to the technical field of the motion control of hexapod robots. The method obtains the body perception signal based on the internal sensors of the blind hexapod robot, and this signal can meet the minimum requirements for the normal walking of the blind hexapod robot and can ignore the influence of bad weather. The proximal policy optimization algorithm is used to train the motion strategy of the blind hexapod robot, and the feasibility of the Markov proof algorithm of the blind hexapod robot is verified. The invention establishes the environment of the blind hexapod robot moving on the unstructured ground through Mujoco, and trains the motion strategy through the reinforcement learning algorithm in the environment, so that the blind hexapod robot can make adaptive motion according to the current environment; it is proved that this method can enable the blind hexapod robot to walk stably and avoid obstacles simply under the influence of bad weather and pass through the unstructured ground.

The invention provides a six-foot type wheel foot metamorphic robot, belongs to the technical field of metamorphic robots, and solves the problems that an existing traditional metamorphic robot is difficult to consider the adaptability of complex road conditions and the rapid moving efficiency of flat road surfaces, is difficult to comprehensively acquire surrounding environment information, lacks a flexible camouflage function, and is inconvenient to use. And diversified operation requirements are difficult to meet and the like. Comprising an upper mounting plate, a lower mounting plate, a sensing assembly, a control assembly, walking foot mechanisms and a mobile power source, a hemispherical shell is detachably arranged at the upper end of the upper mounting plate, fragmented spherical shells are detachably arranged on the six walking foot mechanisms, and the sensing assembly, the walking foot mechanisms and the mobile power source are electrically connected with the control assembly. According to the invention, the walking state is switched, the adaptability of complex road conditions and the rapid moving efficiency of flat road surfaces are considered, the external environment information is comprehensively collected in real time, the protection and disguise performance is good, and the overall working efficiency is improved through reasonable structure integration and control cooperation.

The invention provides an agricultural grain seedling planting and patrolling hexapod robot, and relates to the technical field of agricultural equipment. The hexapod robot for grain seedling planting and patrolling comprises two bases located in the middle of the robot, a control panel used for controlling the posture of the robot, six mechanical legs arranged on the peripheries of the bases, a plant protection disc arranged at the front ends of the upper surfaces of the bases and mechanical arms arranged on the rear portions of the upper surfaces of the bases. The six-foot robot for agricultural grain seedling planting and patrol inspection is suitable for planting of gramineous crops and farmland patrol inspection, the six-foot mechanical legs are adopted to replace a traditional crawler chassis, and the six-foot robot can stably and smoothly move in different farmland environments and is high in adaptability. The base is provided with the mechanical arm, grain seedlings can be clamped and accurately inserted into designated positions of a farmland, and efficient and automatic planting is achieved. A monitoring camera is installed above the mechanical arm, 360-degree inspection tour can be conducted by adjusting the posture of the arm, and farmland abnormity can be found in time.

The invention discloses a detection robot with a composite motion mode. The detection robot comprises a spherical body, a six-foot crawling mechanism, a swing arm and a driving mechanism. The six-foot crawling mechanism is arranged at the bottom of the spherical body, and the six-foot crawling mechanism has a crawling state of extending out of the spherical body and a storage state of deforming into the outer cambered surface of the bottom of the spherical body; the two swing arms are respectively arranged on two opposite sides of the spherical body in a swinging manner; the driving mechanism is arranged in the spherical body, and when the detection robot becomes spherical, the driving mechanism is used for controlling the two swing arms to swing and make contact with the ground so as to drive the detection robot to roll; according to the scheme, the advantages of a spherical robot and the advantages of a hexapod robot are combined, and the robot can move by changing modals according to different environments and requirements so as to adapt to different application scenes.

The application relates to a low-energy-consumption hexapod robot based on nonlinear rope geometric constraints and a foot end linearization compensation method thereof, and relates to the field of robot design. In order to solve the problem that the robot leg makes circular arc motion with the hip joint as the center, resulting in transverse displacement of the foot end and affecting the motion precision of the robot, the leg mechanism is arranged on both sides of the fuselage in six pairs and is symmetrically arranged left and right, three leg mechanisms on the same side are sequentially arranged from front to back and are arranged as front legs, middle legs and rear legs, each leg mechanism comprises a thigh, a shank and a foot which are sequentially connected, the thigh is rotatably installed on the fuselage through a hip joint shaft, the thigh and the shank are rotatably connected through a knee joint shaft, and the thigh and the shank form an inverted V shape, and the shank is a telescopic leg; the hip joint driving mechanism can drive the thigh to rotate around the Z axis to control the front and back swing of the thigh; the knee joint driving mechanism can transmit power in the process of the front and back swing of the thigh, convert the rotary motion of the thigh into the extension and contraction motion of the shank, and correct the motion track of the foot end.

1. The name of the design product: six-legged robot. 2. The use of the design product: bionic robot for investigation and exploration. 3. The design points of the design product: in shape. 4. The picture or photo that best shows the design points: Design 1 perspective view 1. 5. Design 1 is designated as the basic design.

The present application belongs to the field of robotics technology, and discloses a multi-motion modal robot, including: a trunk, a crawling leg assembly and a jumping assembly. A crawling leg assembly is installed on the left front side, the right front side, the left rear side and the right rear side of the trunk, respectively, to form a four-legged distributed crawling robot. In conjunction with the gait control strategy, the multi-motion modal robot can produce a coordinated motion mode similar to that of biological limbs, and has better ground contact stability than bipedal or hexapod robots. A jumping assembly is arranged on the ventral side of the trunk, and the multi-motion modal robot can move forward quickly or cross obstacles through a jumping control strategy. In addition, when the multi-motion modal robot rolls over, the reset structure combined with part of the crawling leg assembly can reset itself. The multi-motion modal robot of the present application has a compact structure and strong adaptability. It can achieve high-maneuverability obstacle crossing and self-reset after rollover in complex terrain, and integrates crawling mode and jumping mode.

The invention discloses a low-power-consumption one-way transmission hexapod robot and a foot end track correction method thereof, and belongs to the field of robot design. The problems that an existing robot is high in energy consumption, heavy in structure, complex in control, high in cost, low in reliability and the like are solved. The hip joint, the thigh, the knee joint, the shank and the foot are connected in sequence, the one-way transmission mechanism is used for controlling the gait of the shank, the thigh is a deformable four-bar mechanism, and the one-way transmission mechanism is connected with the thigh and the hip joint; when the hip joint is driven to rotate in the forward direction, the thigh is driven to deform through transmission cooperation of the one-way transmission mechanism, so that the thigh drives the shank to complete the swing action of lifting and falling. When the hip joint is driven to rotate reversely, the one-way transmission mechanism does not transmit motion at the moment, the thighs do not deform any more, and therefore the feet are always kept in the supporting phase of making contact with the ground and stepping on the ground. The system is mainly used for executing tasks such as complex environment exploration, disaster rescue and planet exploration.

A welding torch has a proximal portion, a distal portion including a contact tip and a diffuser, and a hexapod actuator located between the proximal portion of the welding torch and the distal portion of the welding torch. The hexapod actuator has a moving platform movable with six degrees of freedom and having a central opening through the moving platform. The distal portion of the welding torch is moved by said moving platform in said six degrees of freedom. A wire electrode is fed to the contact tip through the central opening of the moving platform during movement of the distal portion of the welding torch by the moving platform.

The invention provides a six-foot transfer robot based on a planar linkage mechanism, and relates to the technical field of obstacle crossing robots, the six-foot transfer robot comprises an object carrying body, a plurality of foot units are rotatably connected below the object carrying body, the plurality of foot units are annularly and symmetrically distributed around the gravity center of the object carrying body, and the plurality of foot units are divided into two groups of symmetrical motion modules. The robot has the beneficial effects that the plurality of foot units are annularly and symmetrically distributed around the gravity center of the object carrying body and are divided into two groups of symmetrical movement modules, and the rotation directions of the three foot units in each group form 120 degrees, so that the gravity center of the robot is uniformly distributed, and the robot can better keep balance in the movement process. And the two groups of foot units are periodically and alternately supported to form a stable movement mode, so that the stable operation of the robot is ensured.

1. Name of the designed product: underwater detection robot (imitating octopus hexapod). 2. Use of the designed product: for detecting underwater equipment and pipelines. 3. Design points of the designed product: in shape. 4. Picture or photo best indicating the design points: perspective view.

This invention provides a six-legged adsorption robot and its control method for inspecting offshore wind turbine blades. The robot comprises a double-layered body structure and a biomimetic single-leg structure. The double-layered body structure includes an upper and lower body, each equipped with a motion control system and a vacuum adsorption system. The vacuum adsorption system, in conjunction with a three-step gait, achieves alternating adsorption and vacuum breaking. The motion control system coordinates the robot's walking, turning, posture adjustment, and adsorption functions. The biomimetic single-leg structure includes a thigh, a middle leg, and a lower leg, corresponding to the hip, knee, and ankle joints, respectively. Each leg has three rotational degrees of freedom driven by a servo motor. Springs at the upper and lower parts of the lower leg are compressed to provide preload. The lower leg end is connected to a vacuum suction cup via a fisheye bearing, reducing the impact of landing and providing a passive rotational degree of freedom to adapt to stable adsorption on surfaces with varying curvature. This invention features lightweight structure, strong adaptability to surfaces with varying curvature, high control precision, and safety and reliability.

The invention provides a six-way hydraulic crustal stress sensor, which comprises a spherical shell, a crustal stress sensing core body, a clamp spring, a pressure-bearing film and a data line lead-out sealing module, and is characterized in that three upper mounting holes for mounting the crustal stress sensing core body, the clamp spring and the pressure-bearing film are respectively formed in the upper hemisphere of the spherical shell; the lower hemisphere of the spherical shell is respectively provided with three lower mounting holes for mounting a ground stress sensing core body clamp spring and a pressure-bearing film; the axis of the upper mounting hole and the axis of the lower mounting hole both pass through the sphere center of the spherical shell; hydraulic oil is arranged in a cavity between the inner side of the pressure-bearing film and the crustal stress sensing core; and the crustal stress sensing core body is connected with a data line and is led out through the data line lead-out sealing module to transmit data outwards. The six-direction hydraulic ground stress sensor provided by the invention is simple in structure, convenient to operate, accurate in detection and low in cost.

To provide an accurate positioning manipulator as an alternative to a hexapod.SOLUTION: A multi-axis positioning stage or positioner includes a top plate 104 that is supported and operated by a plurality of prismatic joint actuators. Each actuator includes an actuator joint with four or five degrees of freedom (DOF) with the top plate 104. When one or more of the actuators extend or retract, the point of rotation of the remaining actuators, or the four or five DOF actuator joints, can shift to move the top plate 104. The actuators can be positioned between the top plate and at least one base plate 102 or base structure and secured thereto.SELECTED DRAWING: Figure 3

The invention belongs to the technical field of mobile robots. In order to solve the problems that an existing device cannot adapt to irregular terrains and a large turning radius is needed during turning, the four-twin hexapod robot conveying device adapting to the irregular winding terrains comprises a carrying platform, four hexapod robots and four connecting modules, the four hexapod robots are rotationally connected with the object carrying platform through the four connecting modules correspondingly, each hexapod robot comprises an upper platform and a lower platform which are connected in parallel through a telescopic rod, a UPU branch chain and a UPS branch chain, each platform is provided with three moving feet, one end of the telescopic rod is hinged to the lower platform, and the other end of the telescopic rod is slidably connected with the upper platform. The two ends of the UPU branch chain and the two ends of the UPS branch chain are hinged to the upper platform and the lower platform respectively, the driving parts are started to drive the telescopic rod and the two branch chains to move, zero-radius steering is achieved, the device adapts to irregular terrains, and the bearing capacity and stability are improved.

A coordinate positioning machine comprises a drive frame (37) and a metrology frame (36). The drive frame (37) comprises a drive arrangement (28) for moving a movable structure (22) around within a working volume (34) of the machine. The metrology frame (36) comprises a metrology arrangement (26) for measuring the position of the structure (22) within the working volume (34). In one aspect, the metrology arrangement (26) is a hexapod metrology arrangement and the drive arrangement (28) is a non-hexapod drive arrangement. The coefficient of thermal expansion of the metrology frame (36) is lower than the coefficient of thermal expansion of the drive frame (37). The drive frame (37) is coupled to the metrology frame (36) via a coupling arrangement (38) that prevents at least a portion of deformation associated with any additional thermal expansion and contraction of the drive frame (37) from being transferred to the metrology frame (36). In another aspect, the drive arrangement (28) moves the structure (22) about within the working volume (34) in less than six degrees of freedom, and the metering arrangement (26) measures the position of the structure (22) within the working volume (34) in more degrees of freedom than the drive arrangement (28).

1. The name of the design product: Robot (Intelligent Six-Legged). 2. The use of the design product: The design product is used for remote control intelligent companionship. 3. The design points of the design product: In shape. 4. The picture or photo that best indicates the design points: Front view.

The present invention discloses a leg joint structure of a foot-type robot, comprising a motor assembly, a thigh housing, a connecting rod transmission assembly, a calf and a foot end. The motor assembly drives the calf to rotate relative to the thigh through the connecting rod transmission assembly. In the connecting rod transmission assembly, by introducing a reduction link between the active crank and the thigh connecting rod, the transmission angle between the active crank and the next-stage connecting rod is increased, and the motor can drive the calf to move with a smaller torque; and by designing reduction links of equal length at both ends of the thigh connecting rod, the transmission angles of the active crank and its next-stage connecting rod, and the driven crank and its previous-stage connecting rod during movement are improved; at the same time, two pairs of mutually parallel roller structures are installed on the thigh housing to limit the thigh connecting rod to only linear motion, so that before the active crank and the driven crank reach the dead point position, the leg joint structure provided by the present invention has a larger spatial range of motion compared to leg joints without the introduction of reduction links and roller limits.