60 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 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 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 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 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 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.

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.

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 invention relates to the technical field of robot maintenance, and particularly discloses a nuclear power station multi-task fault maintenance detection device based on a six-foot climbing robot. The device comprises a robot body, and a mechanical arm, a six-foot walking mechanism, a laser radar and an electromagnetic adsorption device which are integrated on the robot body. The mechanical arm is installed on the top of the body, the grabbing device at the front end and the visual camera are driven by rotating the base and the swing arm to reach the designated position, and maintenance operation such as checking, grabbing and screwing can be executed. According to the six-foot mechanism, flexible climbing and accurate positioning are achieved through joints driven by multiple sets of steering engines, the foot ends of the six-foot mechanism are designed to be capable of rotating and changing shapes, the six-foot mechanism can be switched between a common foot end mode and a vacuum suction cup mode so as to meet the attachment requirements of surfaces made of different materials, and electric wheels are installed on the two shanks on the front side and the two shanks on the rear side of the robot body so that the robot can be conveniently and rapidly climbed. And rapid movement on a flat road surface can be met. The laser radar at the head is used for environment perception and navigation, the electromagnet at the bottom can be started after reaching a metal working face, the robot is firmly fixed, and a stable platform is provided for fine operation of the mechanical arm. The nuclear power station maintenance platform integrates multiple functions of movement, fixation, observation and operation, can adapt to diversified maintenance tasks in a complex and high-risk environment of a nuclear power station, and effectively improves the safety and efficiency of maintenance operation.

1. Name of the designed product: Hexapod robot. 2. Use of the designed product: Robot used in service industry, manufacturing industry, special operation, etc. 3. Design points of the designed product: In shape. 4. Picture or photo best indicating the design points: Fig. 1.

The invention discloses a wheel-foot mixed type hexapod robot capable of achieving wheel-foot switching. The wheel-foot mixed type hexapod robot comprises a robot body, two foot type legs and four wheel-foot mixed type legs. The two foot-type legs are mounted at the front end and the rear end of the machine body in an external knee-elbow manner; the four wheel-foot mixed legs are distributed and mounted at the left end and the right end of the fuselage in pairs in a full-elbow manner; the foot-type leg part is composed of a thigh assembly and a shank assembly, the machine body is connected with the thigh assembly through a hip joint and a root joint, and the thigh assembly is connected with the shank assembly through a knee joint; the wheel-foot mixed leg part is composed of a foot type leg part and a wheel-foot switching device, the wheel-foot switching device is arranged on the thigh assembly, and the wheel-foot switching device comprises a rotating module and a wheel module; the rotating module is used for changing the position of the wheel module; the wheel module is used for walking. By adopting the specific leg layout structure and the wheel-foot switching device, the robot has high advancing efficiency and stability, meanwhile, the flexibility of the robot is improved, and efficient switching of wheel-foot modes can be achieved.

The invention provides an obstacle crossing control method and system for a heavy-load six-foot hydraulic robot, and the method comprises the steps: obtaining and processing environment information based on preset sensing equipment, so as to determine the three-dimensional geometric data of an obstacle; determining gait parameters required for obstacle crossing based on the three-dimensional geometric data, the environment information and the robot parameters; a target foothold is determined according to the three-dimensional geometric data and the gait parameters, a foot end refined movement track is determined according to the target foothold and the gait parameters, and the robot is controlled to move according to the movement track; and machine body posture data and foot end feedback data of the robot are collected in real time to determine the stability margin and the machine body pitch angle, the gait parameters are dynamically adjusted according to the stability margin and the machine body pitch angle, and multi-cycle self-adaptive obstacle crossing is completed. The obstacle crossing control method solves the problem that in the prior art, an obstacle crossing control method for the heavy-load six-foot hydraulic robot capable of stably and efficiently coping with obstacle terrains is lacked.

The present application provides a hexapod climbing robot for a transmission line tower, comprising: magnetic attachment foot assemblies, a middle frame assembly, robotic arm magnetic attachment foot assemblies, a robotic arm assembly, and a tool rack assembly. A plurality of magnetic attachment foot assemblies are provided and respectively mounted on upper and lower ends of the middle frame assembly, and the magnetic attachment foot assemblies move independently of each other; the magnetic attachment foot assemblies at the upper end are arranged at 90° relative to each other, and the magnetic attachment foot assemblies at the lower end are also arranged at 90° relative to each other; and the magnetic attachment foot assemblies located on the same side move on a same prismatic pair assembly. In the climbing robot of the present invention, a plurality of magnetic attachment foot assemblies are provided and respectively arranged at 90°, such that the climbing robot has a stronger ability to resist torque when attached onto the angle steel of a tower, enabling a robotic arm to reach an operation area more accurately during operation and perform precise operations; and the climbing robot achieves higher operational reliability and stability, ultimately ensuring the stability and reliability of climbing operations.

The application discloses a low-power-consumption unidirectional transmission hexapod robot and a foot end trajectory correction method thereof, and belongs to the field of robot design. In order to solve the problems of high energy consumption, heavy structure, complex control, high cost and low reliability of the existing robots, the application comprises sequentially connected hip joints, thighs, knee joints, shanks and feet, and a unidirectional transmission mechanism for controlling the gait of the shank. The thigh is a deformable four-link mechanism, and the unidirectional transmission mechanism is connected between the thigh and the hip joint. When the hip joint is driven to rotate forward, the thigh is driven to deform through the transmission cooperation of the unidirectional 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 unidirectional transmission mechanism does not transmit motion, and the thigh does not deform any more, so that the foot always keeps in contact with the ground and supports the ground. The application is mainly used for executing tasks such as complex environment exploration, disaster rescue and planet exploration.

The invention belongs to the technical field of hexapod robots, and discloses a hexapod robot. The hexapod robot comprises a robot body, four rear feet and two front feet, the four rear feet are the same in structure, and the two rear feet are symmetrically arranged on the two sides of the middle of the robot body; the other two rear feet are symmetrically arranged on the two sides of the rear portion of the machine body. The two front feet are the same in structure and symmetrically arranged on the two sides of the front portion of the robot body, each front foot comprises a first hip joint, a first knee joint, a first ankle joint and a clamping walking assembly which are sequentially arranged, each clamping walking assembly comprises a connecting assembly, a first clamping jaw and a second clamping jaw, and the first clamping jaw and the second clamping jaw are connected through a connecting assembly. The first clamping jaw and the second clamping jaw are both connected to the connecting assembly, at least one can rotate up and down relative to the connecting assembly, and the first clamping jaw and the second clamping jaw can get close to each other or get away from each other. According to the invention, the stability during movement can be improved, the integration degree can be improved, the energy consumption and the structural complexity are reduced, and the grabbing capability can be improved.

The utility model discloses an induction tooth and guide tooth cover installation mechanism, including guide tooth cover transmission device, induction tooth transmission device, compression device, base, induction tooth transmission device includes track group, and induction tooth has been installed on the track group, guide tooth cover transmission device is installed below the advancing direction of production line track group, and is fixed on the base, the fixed torque electric wrench in compression device is fixed in the movable side of starting pneumatic slide platform, can be lifted under the action of pneumatic slide platform, and pneumatic slide platform is installed on the base, when track group moves to the installation position, pneumatic slide platform acts, drives fixed torque electric wrench to rise and rotates hexapod and drives guide tooth cover to move to the below induction tooth, and fixed torque electric wrench starts and rotates clockwise, drives the screw rod on guide tooth cover to rotate into induction tooth, locks guide tooth cover, realizes guide tooth cover and induction tooth installation function. The utility model design is ingenious, simple structure, simple operation has certain commonality, can carry out induction tooth installation to different track wheel.

The invention discloses a positioning mapping method and system for a hexapod robot, a storage medium and equipment. The method comprises the steps that two-dimensional point cloud data, three-dimensional point cloud data and real-time attitude data are collected; when it is judged that any attitude angle exceeds a preset stable threshold value, a gait control instruction used for controlling the hexapod robot is generated; an improved Hector-SLAM algorithm is adopted to process the two-dimensional point cloud data to generate a two-dimensional grid map, and an ORB-SLAM3 algorithm fused with YOLOv8 target detection and introduced with a dynamic point grading rejection mechanism is operated to process the three-dimensional point cloud data to generate a three-dimensional point cloud map; performing weighted fusion on the map to obtain a fused environment map; path planning is conducted according to the fusion environment map and the current positioning result, foot end track points are generated through forward and inverse kinematics solution, the hexapod robot is controlled to move, and continuous positioning and mapping are achieved. Through motion control and multi-algorithm fusion, stable and accurate autonomous positioning and mapping of the hexapod robot in a dynamic environment are realized.

The invention provides a single-leg position cooperative control method and system for a heavy-load hydraulic hexapod robot, and the method comprises the steps: S1, obtaining a mapping relation between an input duty ratio signal and the actual speed of an actuator, so as to form a corresponding driving characteristic calibration table; s2, the target position of the hydraulic actuator is obtained through calculation; s3, the actual position of the hydraulic actuator is collected in real time, and the position error between the actual position and the target position is calculated; s4, on the basis of the position error, a closed-loop feedback control quantity is calculated through a PID control algorithm; s5, determining a basic control quantity according to the driving characteristic calibration table, and superposing the basic control quantity with the closed-loop feedback control quantity to generate a corresponding superposed control quantity; s6, performing dead zone compensation on the superposition control quantity; s7, the control signal corrected in the step S6 is output to a proportional valve so as to drive a hydraulic actuator to reach the target position; and S8, the step S2 to the step S7 are continuously repeated, and position control over the single-leg hydraulic actuator is achieved. The control efficiency can be effectively improved.

The invention discloses a design method of a hexapod robot, and belongs to the field of robot design. The problems that an existing robot is unstable, slips or fails in obstacle crossing under complex terrains such as slopes, cross slopes and gullies are solved. Systematic size-terrain constraint analysis is lacked, and the trafficability of the robot under the limit working condition cannot be guaranteed. According to the method, based on the spatial layout of a robot body and supporting legs of the to-be-designed hexapod robot, the geometric dimension parameters of the hexapod robot and the working space of the supporting legs, the analytic constraint relation between the geometric dimension parameters and terrain parameters of the hexapod robot is established according to the walking working conditions of the hexapod robot; and designing geometric dimension parameters of the hexapod robot based on the analysis constraint relation. And it is ensured that the hexapod robot has stable movement trafficability in the complex terrain. According to the hexapod robot designed based on the method, the terrain adaptability to the complex field environment can be remarkably enhanced while the structural strength and the overall stability are maintained.

The invention discloses a passive terrain following multi-connecting-rod robot walking mechanism, and belongs to the technical field of robot walking mechanisms. The passive terrain following multi-connecting-rod robot walking mechanism comprises a shell, a driving mechanism is arranged on the shell, and turning mechanisms are arranged at the two ends of the driving mechanism; a light supplementing lamp is arranged at one end of the shell, a battery is arranged in the shell, a camera is fixedly connected to the end, close to the light supplementing lamp, of the shell, a dustproof cover is fixedly connected to the exterior of the camera, and the turning mechanism comprises a pair of second fixing frames fixedly connected to the two ends in the shell correspondingly; six-rowed rods are connected to the pair of second fixing frames in a penetrating and sliding mode. By using the steering mechanism, the first motor drives the rack to move left and right, the rack drives the steering connecting rod to move, and the steering connecting rod pushes the steering supporting legs to deviate towards one side, so that turning of the hexapod robot is achieved.

The utility model discloses a hexapod robot body structure with a flexible trunk. The hexapod robot body structure comprises a body carrier, feet, a protection device, a rotating assembly, a mounting base and a camera shooting assembly. The protection device is arranged at the top end of the machine body carrier, so that the camera shooting assembly is conveniently protected, the camera shooting assembly exposed outside is prevented from being impacted by foreign objects in the environment to be damaged through the elastically-connected protection piece, meanwhile, the camera shooting assembly can be shielded through the protection piece to be prevented from being directly irradiated by sunlight, and the service life of the camera shooting assembly is prolonged. The camera assembly is protected and shaded by arranging a protection piece, air at the bottom end of a protection plate is conveniently and rapidly replaced by arranging a fan, rapid heat dissipation of the camera assembly is achieved, and the service life of the camera assembly is prolonged. And the fan can be shielded by screwing in the protective cover, so that the safety of the fan when the fan is not used is guaranteed.

The application belongs to the field of mobile robots, and particularly relates to a double-platform six-legged robot based on motion bifurcation parallel mechanism, which comprises an upper platform (a platform for carrying objects), a lower platform, four motion branch chains and six telescopic legs. The upper platform and the lower platform are connected through the four motion branch chains, the first branch chain and the second branch chain are RPU branch chains, the third branch chain and the fourth branch chain are UPR branch chains, and the robot moves through the alternate motion of the upper and lower platforms. The upper platform and the lower platform are respectively provided with three telescopic legs, which can be elongated by a corresponding distance according to the terrain. In the initial configuration, the robot has 2T2R instantaneous degrees of freedom. The application has two different motion modes of 2T1R and 1T1R, when the robot moves forward or backward, the robot is in the 2T1R motion mode, and when the robot turns, the robot is in the 1T1R motion mode. In the two motion modes, the robot is redundantly driven, the coupling degrees are both zero, and the robot has an analytical position direct solution, so that the movement demand of the robot can be met.

This invention discloses a damage control method for a hexapod robot based on a joint-aware attention mechanism, belonging to the field of robot damage control technology. It includes: acquiring joint angles, platform posture, and historical motion information at the current and historical moments; performing joint-by-joint damage identification based on the error between the actual and desired joint positions to obtain the location and type of damaged joints; constructing a morphological context, a damage context, and a damage mask based on robot connectivity and damage results; inputting temporal and spatial information into a joint-dimensional attention module, dynamically allocating the influence weights of each joint, and outputting a damage control strategy; and generating continuous control signals based on a motion interpolation module to drive robot motion. This invention improves the strategy generalization ability and aperiodic gait control performance of the hexapod robot by explicitly introducing a damage scene context at the joint dimension, enabling adaptive motion control and exhibiting good robustness, versatility, and engineering application value.

1. Name of the designed product: Hexapod robot dog. 2. Use of the designed product: for home service and performance display. 3. Design points of the designed product: in shape. 4. Picture or photo best indicating the design points: perspective view.

The application discloses a kind of based on reinforcement learning's hexapod robot leg arm multiplex control method and device, it is related to motion control field.The method includes: obtaining the observation information of target hexapod robot;Observation information is input to control strategy model, and the expected joint angle of target hexapod robot is obtained;Control strategy model is obtained according to the policy update of training architecture based on value network after using the method of reinforcement learning according to the multi-task training environment constructed;Training architecture is determined based on teacher-student privilege learning;Value network includes successively connected shared feature layer and multi-task head;Training architecture includes: state estimation encoder, terrain information encoder, privilege information encoder, historical information encoder and ontology network;Using PD control method based on expected joint angle determines joint torque, to control target hexapod robot leg arm multiplex.This application can realize the leg arm multiplex control of hexapod robot.