TW201240860A - A hexapod robot and wheel drive shifting device - Google Patents

Abstract

A hexapod robot and wheel drive shifting device includes a main body, six legs and a plurality of wheel devices. The six legs are arranged on the main body and the wheel devices connect with the legs. Accordingly, the shifting device is operated to alternatively shift between the legs and the wheels. When the legs are selected, the legs are operated to walk on the ground. When the wheels are selected, the wheels are operated to drive.

Description

201240860 VI. Description of the invention: [Technical field to which the invention belongs] ^ The exchange between the device, the foot and the wheel can be exchanged. [Prior Art]

The hexapod robot technology has been disclosed in many Republic of China patents and foreign patents. For example, the Republic of China Patent Bulletin No. 348674 ', from I specializes in No. 397748, the six-foot robot's clamp device m is based on the method of hair transfer mill ^ SmglC aCtUator Per robotic hexapod ^ # TW7 - The use of humanoid robots, for example, the Republic of China Patent No. 1255760, the wheeled humanoid robot, the invention patent ^ person. The wheeled robot mainly has a part-porting movement ί ΓΓΛΊ 能使 能使 能使 能使 能使 能使 能使 能使 能使 能使 能使 能使 能使 能使 能使 能使 能使 能使 能使 能使 能使 能使 能使 能使 能使 能使 能使 能使 能使 能使 能使 能使 能使 能使 能使 能使 能使 能使 能使 能使 能使 能使 能使The head is equipped with a sensor for measuring the upper half of the visual sensing module, and the sensor is equipped with a distance measuring function, and in the == fresh target 4 (10), the hand is taken to set the object "object" and the distance sensor is used. To achieve the function of avoiding obstacles. People's such as: let the Republic of China patent open the robot ^ Ming special shape and the small shifting tester with the auxiliary wheel, ^, the case, which does not reveal a small movement with auxiliary wheels ° 'The mobile robot maintains a standing position through two wheels and can

PH0J5TWKUA 3 201240860 2=There is a two-wheeled auxiliary wheel mounted on the servo motor i, two systems. The small mobile machine is used to drive the motor, so that the wheel is driven to the inside of the robot in a specified manner, and when the ground is found to be uneven, the wheel is hidden.

The rear S module, when the previous purpose is moving, is now obstructing the object === the device and controlling the mobile process towel, the wireless communication function between the n people; the function; and the environmental information through the photographic lens & The function breaks the position between each other^ or the wheeled robot is not provided in the 攸 功 = = = = The robot can't use the six-foot crawling function to crawl into the surface f. It can only provide multiple walking or driving functions with six feet. The above-mentioned Chinese = if the first number, the third number, the first and the tyrannical 'straight 4 丨 丨 民 民 民 专利 专利 patent patent application No. 2_06715 invention patent application eye ^ technology Na Zhan Zhuang 6 ^ 1513 only for this BACKGROUND OF THE INVENTION The present invention is not intended to limit the scope of the present invention. In order to meet the above needs, the present invention provides a kind of pot and the mountain wheel ridges are difficult to set each other, and when the foot is inserted into the wheel set, the wheel set is driven to perform wheeled driving.

P1I015TWKUA 4 201240860 The purpose of the line and wheel driving function. SUMMARY OF THE INVENTION The main object of the present invention is to provide a six-foot mechanical walking and vehicle driving mutual switching device i, which uses six legs to perform a cross-foot squatting action on a wheel set, and is located at the foot. When the vehicle is in the wheel set, the vehicle is driven by the vehicle. The vehicle is equipped with a six-footed 16-row and wheel-driving function. In order to achieve the above object, the hexapod mechanical walking and driving mutual switching device of the present invention includes a soap hopper body having a motion controller; a foot portion disposed on the field, the foot controller electrically arranging the motion controller; and the electric note being connected to the plurality of wheel groups, the configuration On the foot, at least one sex is connected to the shaft stealing (four); b wheel set electric ΐ ΐ ΐ ΐ ΐ ΐ ΐ 兮 兮 兮 兮 兮 兮 兮 兮 兮 兮 兮 兮 兮 兮 兮 兮 兮 兮 兮 兮 兮 兮 兮Take, 5 Hai foot to carry out the crawling action across the foot; apricot, when the wheel _ Qishang wheel ride into the car. Each of the feet of the preferred embodiment of the present invention includes: a first link 'which is pivotally connected to the body; the first driving cymbal generates a forward and backward movement in a longitudinal direction; a second link The first link is pivotally connected to the first link; and the first door of the first link and the second link is electrically connected to the action controller, and the first drive Two 'Green Sea'-links to produce rise and/or fall in the horizontal direction

pH〇i5TWKUA 5 201240860 The second link is used to support the ground to crawl on the ground. In the preferred embodiment of the invention, the first driver and the second driver are selected from a servo motor. In the preferred embodiment of the present invention, the second link has a first micro switch to confirm whether the ground is stable. A preferred embodiment of the present invention further includes a steering control system for controlling the wheel set. In the preferred embodiment of the invention, the motion controller is coupled to a plurality of speed reduction motors. The preferred embodiment of the present invention further includes a wireless communication module electrically coupled to the motion controller for transmitting the data of the motion controller to a remote computer. The preferred embodiment of the present invention further includes a photographic monitoring system including a telescopic arm and a photographic device, the photographic device being disposed on the telescopic arm. A preferred embodiment of the invention further includes a gripping robotic arm system. In a preferred embodiment of the invention, the gripping robotic arm system has at least one second microswitch to confirm whether the article is successfully gripped. [Embodiment] The following is a description of the accompanying drawings, and it is intended to limit the present invention. Switching to the six-foot frequency of the wheels of the car to make each other into a hexapod robot, the shooting is applied to a variety of Saki Wei surface traffic, breaking treatment, or in the scope of the plane road exploration or explosion = invention. In addition, the mutual switching device of the hair and the wheel row can be combined with its industry

PM015TWKUA 6 201240860 =: Robot arm sampling system Scope of the invention. A photographic system, but it is not intended to limit the present invention. The preferred embodiment of the present invention is a cross-cutting MM "n. _ walking and wheel preferred embodiment of the hexapod mechanical strike 1 / map 1A shows a three-dimensional schematic gj of the present invention, which is in accordance with an embodiment of the apparatus for switching between the wheels and the six-legged machine; FIG. 2 is a diagram showing the mutual switching of the block diagram of the preferred foot control system of the present invention. For the device, please refer to the switching device of the mam diagram/1 diagram. The foot of the foot of the mechanical line (4) touches the embodiment of the six-body six-foot 2 and four sets of electric knives. The structure mainly includes one side of the main body 1. In the 〇〇, the six legs 2 are respectively assembled 2 to perform proper relative motion, and the other is maintained at an appropriate distance, and the four sets of the foot 2 on the foot 2 are respectively disposed at the time, four έ and 嗲The vehicle γ is between the foot 卩 2 and the wheel set 200. Here she is at (4) heart, the wheel, please refer to the figures 1, 1A and 2, ♦ 歹 歹 !! Mt. 2 r 200 and wheel set 2〇0 ′ to drive the foot 2 or wheel set 200 in a six-leg crawl mode and four. Referring to Figures 1, 1A and 2, each of the feet 2 includes a first link 21, a first drive 22, and a second link. The fine-like fresh-drive pure 22 and the second drive ^^2^ = a servo motor' and the motion controller 11 is connected to a plurality of reduction motors 12, as shown in Fig. 2, for driving the wheel set 2〇 Hey. Referring to FIGS. 1, 1A and 2, the first link 21 is pivotally connected to the main body 1, and the first driver 22 is pivotally connected to the main body 1 and the first link 21.

PH015TWKUA 201240860 The first drive and the first link 21 of the foot 2 advances and the main (1) can use the cymbal to control the drive handle second, and carry the control 11 1 female second drive link 23 for proper ascent and descent Shifting g: the second drive diagram of the foot 2 is shown as 'when the first drive 22 and the second are: the first foot 21 and the second link 23 are lowered. The movement of the movement into the [or backward] movement combined with the rise (or the lower Na 2 formed on the ground - support surface, so the surface, it is suitable for crawling on the meal road 2 'the 1 and 1 Α 所示 '' Pivoting to the foot of the main rod when the second driver 24 controls the driving of the second link 23 mode, the needle ί wheels 1 and 2 〇 0 can resist the ground, which has been switched to the four-wheel driving apricot ti on the surface Practice, it is suitable for driving on a _-like plane. Conversely, when the surface or terrain is used, the second driver 24 is used to control the driving to expand the wheel set 200 so as to push the wheel set 200 off the ground, and the foot 2 is supported on the ground, which has switched back to the hexapod crawl mode. The action controller 11 can select the ATMega8515L single chip manufactured by the company I. as shown in Figs. 1, 1 and 2. In addition, the second has a first micro switch 25 (as shown in FIG. 2), and the motion is utilized.

P11015TWKUA 8 201240860 The controller 11 receives the ground return feedback signal of the first micro switch 25 to confirm whether the second link 23 in the action is stable to touch the ground. Fig. 3 is a block diagram showing a hexapod mechanical walking and wheeling mutual switching device combined with a photographic monitoring system and a clamping robot system in accordance with another preferred embodiment of the present invention. Referring to Figures 1, 1A and 3, a hexapod mechanical walking device according to another preferred embodiment of the present invention comprises a photographic monitoring system 3, a gripping robot system 4, a wireless communication module 5 and a main The controller 9 is configured to control the camera monitoring system 3, the gripping robot system 4, and the wireless communication module 5. The main controller 9 can select an ATMegal 62V single wafer manufactured by ATMEL Corporation. In addition, the main controller 9 is electrically connected to the motion controller 11 so that the motion controller U integrates and operates the motion controller 11. Referring again to Figures 1, 1A and 3, the camera monitoring system 3 includes a telescopic arm and a camera device (as shown in Figure 1), and the camera device is disposed on the telescopic arm. In addition, the camera monitoring system 3 has a telescopic arm controller 31 (for example, ATMega88V single chip) and a telescopic arm driver 32 (shown in FIG. 3), so that the telescopic arm can be used to adjust the camera to the desired photography. Angle and position. Referring again to Figures 1, 1A and 3, the gripping robot system 4 has a robot arm controller 41 (e.g., ATMega8 single wafer) and a robot arm driver 42 (as shown in Fig. 3) so that The telescopic arm is telescopically adjusted to the desired photographing angle. Additionally, the gripping robot system 4 has at least one second microswitch to confirm whether the item was successfully gripped. In addition, referring to FIG. 3, the wireless communication module 5 can select other RP2401 wireless transmission modules. The wireless communication module 5 is electrically connected to the main control controller 9 and the motion controller 11 to transmit the data of the motion controller 11, the telescopic arm controller 31 and the robot controller 41 to a remote computer or ^ Age Control Center. Dish

9 P'>〇15TWKUA 201240860 士》 As shown in Fig. 3, the wireless communication group 5 is electrically connected, so that the data of the main controller 9 is transferred to the J ^ Oh no.] For example, the wireless communication module 5 is selected from the group consisting of a computer and a communication module. The computer (for example, the personal computer ^gbee has no f gram) through the PC end of the 232 and then through the Zigbee line to construct a monitoring device to receive the information of the mutual switching device, so that the monitoring of the butterfly group is recognized * 4A ~ 4E shows a hexapod machine in accordance with a preferred embodiment of the present invention; the J-wheel drive is placed between the crawler and the vehicle, and is not intended to limit the scope of the present invention. Please refer to the first work = stereoscopic

In the preferred embodiment of the present invention, the hexapod mechanical wide 4A driving mutual switching device is started from the stationary state of FIG. 1A and then rotated in the direction indicated by the arrow in FIG. 4A. . = start to cross forward; then, when the first group of three | ^ = three feet Λ / / arrow shown], according to the arrow of Figure 4B Si as the second, and the other two The branch foot begins to alternate in the forward direction 'by, body 1 moves forward; then, when the foot of the second group is kept ^ alternates from the direction of the three legs of the first group', the arrow pointing backwards is shown] :.; The first phase of driving, the walking and the wheel, Figure 1. Fig. 6 is a view showing the present invention: the switching device for the t-driving is used in conjunction with the switching device of Fig. 1. The block diagram of the sum, the, and the dead, corresponding to the real «month reference to the fifth figure, continues to use the flute and the $24 actuator 24 to jointly coordinate the control operation of the first heart 2 Τ. and (b) #f3,j

P1I015TWKUA 10 201240860 Adjust this and offset the wheel set 2GG to the ground and switch to the four-wheel direction. At this time, the action controller 11 has finished walking and Qing, and the inter-switching device of the first six-footed machine is equipped with a driving device, and the driving control system 6 includes - Driving ^: System 6, and the driving control state 61 and a wireless communication module 62.曰ΠYou can choose M_535L single ^ ' produced by ATMEL company? Input can choose 4X4 matrix keyboard, 4 knobs and 2 cuts: 2 off, and its output can choose 16x4❾ LCD display module. The pull group 62 is for outputting a control command to the phase rib changing device.控制 ', , , Ά 5 control command 5 command and the controller 9 ' and use RS_232 to transmit to the remote computer. Or, = the preferred implementation option is controlled by the remote computer, ^ is sent to the book 胄 H, and then the zigbee technology is transmitted by the wireless communication module 5 to the main controller 9 ^ The foregoing preferred embodiments of the present invention are merely illustrative of the techniques of the present invention and the technical embodiments thereof, and various substantial equivalent modifications and/or alternatives can be appropriately implemented; therefore, the scope of the present invention is The scope of the attached Shen Yuan and = formula is subject to the standard. Scope of patent

P11015TWKUA 201240860 [Simple diagram of the map] The second map of the driving of the two sets: the physical driving of the opposite ===== Saki and the wheel line [main symbol description] 11 action controller 21 first link 23 Two-link 25 first micro switch 31 telescopic arm controller 1 main body 12 deceleration motor 2 foot 22 first drive 24 second drive 200 wheel set 3 photo-monitoring system 32 telescopic arm drive

m〇I5TWKUA 12 201240860 4 Clamping robot system 41 Robot controller 42 Robot arm drive 5 Wireless communication module 6 Driving control system Driving controller 62 Wireless communication module 9 Main controller

13 P11015TWKUA

Claims (1)

201240860 VII. Application for Patent®: In addition, it includes six legs, which are arranged in the main-action controller; and x 'mothers are electrically connected to the plurality of wheel sets, and are configured The connection is connected to the motion controller; σ, when switching to one of the wheel group electrical parts, they switch to each other 'when switching to the foot of the wheel __, when the _ wheel set, the foot is mechanical walking and wheel driving a first cup, which is pivotally connected to the main body; the first first driver is pivotally connected to the main body and the first link is connected to the action controller, and the first drive is (four) first=, so as to be in the longitudinal direction The forward and backward movements are generated--the control is activated by the first link, which is pivotally connected to the first link; and the second Si is connected to the ==, the fifth link is moved to generate the rise in the lateral direction. And ΐί actuator control drive 3, ^ Shen ^ two links to support the ground, so as to walk on the ground. The hexapod mechanical walking and the vehicle are described in the first item of the cypress patent range. The knives and the cymbals' are in which the first and second actuators are selected from the group of the fourth section of the vehicle. Buy the switch to confirm the 5, according to the scope of the patent scope, according to the item; the mutual switching device, including a driving system, =: 3⁄4 P110|5TWKUA 14 201240860 6 , phase ^ ^ its 丄 = action control In order to control the action ^;! 3 - telescopic arm and - photographic device, the photographic device is arranged in the ς =, , · first package walking and wheel - 10, according to the claim 9 A hexapod mechanical walking and mutual switching device, wherein the clamping robot system has at least one = two driving switch 'to confirm whether the item is successfully lost. Micro P11015TWKUA 15