The invention discloses a bionic cockroach specialized robot in an unstructured environment. The robot is divided into four parts, namely a shell, a control device, a mechanical mechanism and a camera module. The shell, the control device, the mechanical mechanism and the camera module cooperate with one another, and the operation function of the robot in the special environment is achieved. The control device serves as the core of the whole robot, the walking gait and speed of the robot are controlled by controlling the motors, the walking gait of the robot determines the angular speed of rotation of the motors on one hand and also determines the unique leg mechanical structure of the robot on the other hand, under driving of rotating shafts of the motors, six-foot structures are matched with one another, and the functions of walking, steering and obstacle crossing at different speeds are completed, so that special operation is completed. According to the invention, special operation is carried out in an unstructured terrain by using the characteristics of rapidness, flexibility and compactness, and an observed image can be returned by configuring a camera.
本发明公开了一种非结构化环境下的仿生蟑螂特种机器人,该机器人分为四个部分:外壳、控制装置、机械机构以及摄像头模块。外壳、控制装置、机械机构以及摄像头模块相互协同配合,实现机器人在特种环境下的作业功能。控制装置作为整个机器人的核心,通过控制电机进而控制机器人的行走步态及速度,机器人的行走步态一方面决定与电机转动的角速度,另一方面还决定于其独特的腿部机械结构,在电机转轴的带动下,六足结构相互配合,完成不同速度的行走,转向及翻越障碍的功能,从而完成特种作业。本发明利用自身快速性、灵活性、小巧的特点在非结构化地形中进行特种作业,可通过配置摄像头回传所观察的图像。
Bionic cockroach specialized robot in unstructured environment
一种非结构化环境下的仿生蟑螂特种机器人
2021-11-16
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Robot-motion in unstructured environment
Automotive engineering | 1994
|Robot-Motion in Unstructured Environment
British Library Conference Proceedings | 1994
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