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2. 发明专利

AU2019100350A4 THE HEXAPOD ROBOT WITH WHEEL TYPE AND LEG TYPE 未知
公开(公告)号：AU2019100350A4
公开(公告)日：2019-05-09
申请号：AU2019100350
申请日：2019-04-04
申请人： AI BOFEI MR , FANG YIDE MR , GUO MENGYAO MISS , WEI YEQI MR , ZHU QING MR
发明人： GUO MENGYAO , WEI YEQI , AI BOFEI , FANG YIDE , ZHU QING
IPC分类号： B62D57/02
摘要： abstract The present invention relates to a hexapod robot which can be transformed by wheels. More specifically, a hexapod robot with an improved structure is involved. It can advance with the highest efficiency in rugged terrain, uneven surface, that is, common ground environment. The invention has innovative mechanicalstructure: wheels are not ordinary wheels, but integrated wheels and feet, that is, wheels are equivalent to 0-shaped feet when the wheels are locked, and rotate around the connection between wheels and body; wheels are equivalent to normal wheels when the wheels are unlocked and the motors in the connection between wheels and body are locked. The invention is suitable for fast and flexible walking in complex terrain. On the one hand, the foot state can adapt to rugged terrain; on the other hand, the wheel state can enable the robot to travel more quickly on flat terrain. The invention integrates the advantages of ordinary hexapod robot and automobile, but is superior to both. It is an improvement of ordinary hexapod robot. The robot is equipped with 12 12 12-volt DC motors, six of which are used to drive the rotation of the connector between the wheel and the car body. Each connector is equipped with a motor; the other six motors are allocated to six connectors to drive the rotation of six wheels. Twelve motors are controlled by L298N dual motor driver chip. The robot is powered by a 12V output battery of the 18650 model. Ultrasound sensors and chips working under 5V are supplied by DC-DC module in turn. The robot has two different sensors, including an ultrasonic sensor and a camera. HC-SRO4 ultrasonic sensor will be used. It can measure the distance between 2cm and 4m, and send the echo signal to Arduino (main board). The pulse width of the echo signal is proportional to the measured distance, so it can provide the distance information of the target obstacle. The invention applies six ultrasonic sensors, which are placed symmetrically on both sides with one angle of 20 degrees and one angle of 40, 60 and 80 degrees on one side, to solve the problem that the boundary information of surrounding obstacles can not be provided due to the ultrasonic divergence characteristics. In addition, the ultrasonic sensor should be combined with the camera. The camera uses KAIP ultra wide angle camera with 12V working voltage. Its advantages are wide angle and night vision. It ensures that the robot can collect the information of the surrounding environment well in various environments and feedback the information to the motherboard. All materials used in the manufacturing of the invention are easy to obtain, and the cost of manufacturing a complete set of wheel-set integrated robots is low. Fig.1

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