A hexapod robot

Abstract

The invention relates to a hexapod robot, comprising a rotating mechanism, wherein the rotating mechanism is sequentially provided with an upper mounting plate and a lower mounting plate from top to bottom, and further comprising a rotating driving mechanism for driving the upper mounting plate and the lower mounting plate to rotate; An upper frame fixedly connected with the upper mounting plate,and the upper frame is provided with a first foot structure, a second foot structure, a third foot structure and a first traveling driving mechanism, wherein the first traveling driving mechanism is used for driving the first foot structure, the second foot structure and the third foot structure to move synchronously; A low frame is fixedly connected with that low mounting plate, and the lower frame is provided with a fourth foot structure, a fifth foot structure, a sixth foot structure and a second travel driving mechanism, wherein the second travel driving mechanism is used for driving the fourth foot structure, the fifth foot structure and the sixth foot structure to move synchronously. The hexapod robot of the invention is mounted with only three sets of driving mechanisms, and the number of actuators mounted on a single hexapod robot is reduced.

Description

Technical field [0001] The invention relates to the technical field of robots, in particular to a hexapod robot. Background technique [0002] Footed robots can traverse rugged terrain better than wheeled robots. Nowadays, most hexapod robots are directly installed on each joint with a steering gear, which is called a joint direct-drive hexapod robot. This kind of joint direct drive structure makes the number of steering gears used by a hexapod robot up to 18. This kind of joint direct-drive hexapod robot can only be used to study biological gait simulation, and cannot really carry heavy objects to perform tasks, so it lacks engineering application value. [0003] The structure of each joint with actuators keeps the number of actuators high, which will cause many problems: increase the difficulty of control calculation, reduce the capacity of carrying weight and increase the construction cost. Even if the steering gear is replaced with a motor with better performance, the above ...

AI Technical Summary

Problems solved by technology

This kind of joint direct-drive hexapod robot can only be used to study biological gait simulation, and cannot really carry heavy objects to perform tasks, so it lacks engineering application value

[0003] The structure of installing an actuator for each joint makes the number of actuators high, which will cause many problems: increasing the difficulty of control calculations, reducing the ability to carry weight and increasing construction costs

However, this kind of relying on complicated computer calculations to generate gait also has its own barriers. Once the computer fails or the battery loses power, it will be difficult for the entire robot to maintain balance without overturning. Obviously, how to reduce the burden on the computer is also an improvement for the robot. important direction

[0004] In addition, the existing joint direct-drive hexapod robots have a large turning radius when turning, making it difficult to achieve fast turning

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