CN101830253A - Six-foot crawling robot - Google Patents
Six-foot crawling robot Download PDFInfo
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- CN101830253A CN101830253A CN 201010179007 CN201010179007A CN101830253A CN 101830253 A CN101830253 A CN 101830253A CN 201010179007 CN201010179007 CN 201010179007 CN 201010179007 A CN201010179007 A CN 201010179007A CN 101830253 A CN101830253 A CN 101830253A
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Abstract
The invention relates to a robot, in particular to a six-foot crawling robot which aims at solving the problems that the existing six-foot crawling robot is complicated in structure, is simple to control and has no manual controlled walk action. A fourth lower connecting plate, a fifth lower connecting plate and a sixth lower connecting plate are driven to make leftward or rightward swinging by a first large steering engine through a first large steering engine tiller and a first large steering engine tension bar, and the fourth lower connecting plate, the fifth lower connecting plate and the sixth lower connecting plate respectively drive respective foot mechanism to operate to realize the leg striding action; in a similar way, a first lower connecting plate, a second lower connecting plate and a third lower connecting plate are driven to make leftward or rightward swinging by a second large steering engine through a second large steering engine tiller and a second large steering engine tension bar, and the first lower connecting plate, the second lower connecting plate and the third lower connecting plate respectively drive respective foot mechanism to operate to realize the leg striding action; and six small steering engines are used to respectively control the foot mechanism thereon to make leftward and rightward swinging to realize leftward or rightward turning.
Description
Technical field
The present invention relates to a kind of robot.
Background technology
On the parts of each leg of existing six-foot crawling robot two steering wheels are installed all, therefore whole six-foot crawling robot always has 12 steering wheels, complex structure; In addition, ROBOT CONTROL is fairly simple, only need open switch, and robot can be walked, and action that can not the manual intervention robot promptly lacks and can artificially control the walking action.
Summary of the invention
The objective of the invention is to lack the problem that artificially to control the walking action, a kind of six-foot crawling robot is provided for solving existing six-foot crawling robot complex structure, control simply.
The present invention is by six little steering wheels, mainboard, first steering wheel, second largest steering wheel, six pin mechanisms, first steering wheel pull bar, second largest steering wheel pull bar, first steering wheel steering wheel, second largest steering wheel steering wheel, first upper junction plate, second upper junction plate, the 3rd upper junction plate, the 4th upper junction plate, the 5th upper junction plate, the 6th upper junction plate, first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod, first lower connecting plate, second lower connecting plate, the 3rd lower connecting plate, the 4th lower connecting plate, the 5th lower connecting plate, the 6th lower connecting plate and six bearing pins are formed, first lower connecting plate, second lower connecting plate, the 3rd lower connecting plate, the 4th lower connecting plate, the 5th lower connecting plate and the 6th lower connecting plate all be positioned at mainboard below, and second lower connecting plate and the 5th lower connecting plate are that benchmark is symmetrical arranged with the mainboard longitudinal centerline, first lower connecting plate and the 3rd lower connecting plate are symmetricly set on the both sides of second lower connecting plate, the 4th lower connecting plate and the 6th lower connecting plate are symmetricly set on the both sides of the 5th lower connecting plate, first upper junction plate, second upper junction plate, the 3rd upper junction plate, the 4th upper junction plate, the 5th upper junction plate and the 6th upper junction plate all be positioned at mainboard above, first upper junction plate is corresponding with first lower connecting plate, and first upper junction plate and first lower connecting plate are hinged by a bearing pin and mainboard, second upper junction plate and the corresponding setting of second lower connecting plate, and second upper junction plate and second lower connecting plate are hinged by a bearing pin and mainboard, the 3rd upper junction plate and the corresponding setting of the 3rd lower connecting plate, and the 3rd upper junction plate and the 3rd lower connecting plate are hinged by a bearing pin and mainboard, the 4th upper junction plate and the corresponding setting of the 4th lower connecting plate, and the 4th upper junction plate and the 4th lower connecting plate are hinged by a bearing pin and mainboard, the 5th upper junction plate and the corresponding setting of the 5th lower connecting plate, and the 5th upper junction plate and the 5th lower connecting plate are hinged by a bearing pin and mainboard, the 6th upper junction plate and the corresponding setting of the 6th lower connecting plate, and the 6th upper junction plate and the 6th lower connecting plate are hinged by a bearing pin and mainboard, one end of first connecting rod and the external side end of first lower connecting plate are hinged, the inboard end of the other end of first connecting rod and second lower connecting plate is hinged, one end of second connecting rod and the external side end of second lower connecting plate are hinged, the inboard end of the other end of second connecting rod and the 3rd lower connecting plate is hinged, one end of third connecting rod and the external side end of the 4th lower connecting plate are hinged, the inboard end of the other end of third connecting rod and the 5th lower connecting plate is hinged, one end of the 4th connecting rod and the external side end of the 5th lower connecting plate are hinged, the inboard end of the other end of the 4th connecting rod and the 6th lower connecting plate is hinged, first steering wheel and second largest steering wheel are arranged on the longitudinal centerline of mainboard, and first steering wheel is between first lower connecting plate and second lower connecting plate, second largest steering wheel is between second lower connecting plate and the 3rd lower connecting plate, first steering wheel output shaft on the first steering wheel and the second largest steering wheel output shaft on the second largest steering wheel are all outer to be exposed at outside the lower surface of mainboard, one end of first steering wheel steering wheel and first steering wheel output shaft are hinged, one end of the other end of first steering wheel steering wheel and first steering wheel pull bar is hinged, the inboard end of the other end of first steering wheel pull bar and the 5th lower connecting plate is hinged, one end of second largest steering wheel steering wheel and second largest steering wheel output shaft are hinged, one end of the other end of second largest steering wheel steering wheel and second largest steering wheel pull bar is hinged, the inboard end of the other end of second largest steering wheel pull bar and second lower connecting plate is hinged, six pin mechanisms are corresponding one by one with six lower connecting plates, Connection Block in the pin mechanism is housed between first upper junction plate and first lower connecting plate, this Connection Block and first upper junction plate and first lower connecting plate are hinged, Connection Block in the pin mechanism is housed between second upper junction plate and second lower connecting plate, this Connection Block and second upper junction plate and second lower connecting plate are hinged, Connection Block in the pin mechanism is housed between the 3rd upper junction plate and the 3rd lower connecting plate, this Connection Block and the 3rd upper junction plate and the 3rd lower connecting plate are hinged, Connection Block in the pin mechanism is housed between the 4th upper junction plate and the 4th lower connecting plate, this Connection Block and the 4th upper junction plate and the 4th lower connecting plate are hinged, Connection Block in the pin mechanism is housed between the 5th upper junction plate and the 5th lower connecting plate, this Connection Block and the 5th upper junction plate and the 5th lower connecting plate are hinged, Connection Block in the pin mechanism is housed between the 6th upper junction plate and the 6th lower connecting plate, this Connection Block and the 6th upper junction plate and the 6th lower connecting plate are hinged, six little steering wheels are corresponding one by one with six upper junction plates, each little steering wheel is arranged on the upper surface of corresponding upper junction plate, and the little steering wheel output shaft on an end of the little steering wheel steering wheel in the pin mechanism and the little steering wheel is hinged.
The invention has the beneficial effects as follows: one, the present invention only used that eight steering wheels can be realized advancing, retreat, flicker, flicker, forward a left side turn greatly, rightly forward turn greatly, backward a left side turn greatly, right big eight actions of turning backward, the present invention has 12 steering wheels with existing six-foot crawling robot and compares, simple in structure, control is simple, can artificially control the walking action, reduce the productive costs of six-foot crawling robot.
Description of drawings
Fig. 1 is an integral structure front view of the present invention; Fig. 2 is the birds-eye view of Fig. 1, and Fig. 3 is the left view of Fig. 1; Fig. 4 is that the K of Fig. 1 is to view; Fig. 5 is the structural representation of each pin mechanism 4; The position view of step 1 when Fig. 6 is the robot straight ahead; The position view of step 2 when Fig. 7 is the robot straight ahead; The position view of step 3 when Fig. 8 is the robot straight ahead; The position view of step 4 when Fig. 9 is the robot straight ahead; Figure 10 is the position view of robot straight line step 1 when retreating; Figure 11 is the position view of robot straight line step 2 when retreating; Figure 12 is the position view of robot straight line step 3 when retreating, and Figure 13 is the position view of robot straight line step 4 when retreating; The position view of step 1 when Figure 14 is the robot flicker; The position view of step 2 when Figure 15 is the robot flicker; The position view of step 3 when Figure 16 is the robot flicker, the position view of step 4 when Figure 17 is the robot flicker; The position view of step 1 when Figure 18 is the robot flicker; The position view of step 2 when Figure 19 is the robot flicker; The position view of step 3 when Figure 20 is the robot flicker, the position view of step 4 when Figure 21 is the robot flicker; Real circle represents that the foot end lands among Fig. 6～Figure 21, and empty circle represents that the foot end lifts.
The specific embodiment
The specific embodiment one: present embodiment is described in conjunction with Fig. 1～Fig. 4, present embodiment is by six little steering wheels 1, mainboard 2, first steering wheel 3-1, second largest steering wheel 3-2, six pin mechanisms 4, first steering wheel pull bar 5-1, second largest steering wheel pull bar 5-2, first steering wheel steering wheel 6-1, second largest steering wheel steering wheel 6-2, the first upper junction plate 7-1, the second upper junction plate 7-2, the 3rd upper junction plate 7-3, the 4th upper junction plate 7-4, the 5th upper junction plate 7-5, the 6th upper junction plate 7-6, first connecting rod 8-1, second connecting rod 8-2, third connecting rod 8-3, the 4th connecting rod 8-4, the first lower connecting plate 9-1, the second lower connecting plate 9-2, the 3rd lower connecting plate 9-3, the 4th lower connecting plate 9-4, the 5th lower connecting plate 9-5, the 6th lower connecting plate 9-6 and six bearing pins 10 are formed, the first lower connecting plate 9-1, the second lower connecting plate 9-2, the 3rd lower connecting plate 9-3, the 4th lower connecting plate 9-4, the 5th lower connecting plate 9-5 and the 6th lower connecting plate 9-6 all be positioned at mainboard 2 below, and the second lower connecting plate 9-2 and the 5th lower connecting plate 9-5 are that benchmark is symmetrical arranged with mainboard 2 longitudinal centerline I-I, the first lower connecting plate 9-1 and the 3rd lower connecting plate 9-3 are symmetricly set on the both sides of the second lower connecting plate 9-2, the 4th lower connecting plate 9-4 and the 6th lower connecting plate 9-6 are symmetricly set on the both sides of the 5th lower connecting plate 9-5, the first upper junction plate 7-1, the second upper junction plate 7-2, the 3rd upper junction plate 7-3, the 4th upper junction plate 7-4, the 5th upper junction plate 7-5 and the 6th upper junction plate 7-6 all be positioned at mainboard 2 above, the first upper junction plate 7-1 is corresponding with the first lower connecting plate 9-1, and the first upper junction plate 7-1 and the first lower connecting plate 9-1 are hinged by a bearing pin 10 and mainboard 2, the first upper junction plate 7-1 and the first lower connecting plate 9-1 can freely rotate, the second upper junction plate 7-2 and the corresponding setting of the second lower connecting plate 9-2, and the second upper junction plate 7-2 and the second lower connecting plate 9-2 are hinged by a bearing pin 10 and mainboard 2, the second upper junction plate 7-2 and the second lower connecting plate 9-2 can freely rotate, the 3rd upper junction plate 7-3 and the corresponding setting of the 3rd lower connecting plate 9-3, and the 3rd upper junction plate 7-3 and the 3rd lower connecting plate 9-3 are hinged by a bearing pin 10 and mainboard 2, the 3rd upper junction plate 7-3 and the 3rd lower connecting plate 9-3 can freely rotate, the 4th upper junction plate 7-4 and the corresponding setting of the 4th lower connecting plate 9-4, and the 4th upper junction plate 7-4 and the 4th lower connecting plate 9-4 are hinged by a bearing pin 10 and mainboard 2, the 4th upper junction plate 7-4 and the 4th lower connecting plate 9-4 can freely rotate, the 5th upper junction plate 7-5 and the corresponding setting of the 5th lower connecting plate 9-5, and the 5th upper junction plate 7-5 and the 5th lower connecting plate 9-5 are hinged by a bearing pin 10 and mainboard 2, the 5th upper junction plate 7-5 and the 5th lower connecting plate 9-5 can freely rotate, the 6th upper junction plate 7-6 and the corresponding setting of the 6th lower connecting plate 9-6, and the 6th upper junction plate 7-6 and the 6th lower connecting plate 9-6 are hinged by a bearing pin 10 and mainboard 2, the 6th upper junction plate 7-6 and the 6th lower connecting plate 9-6 can freely rotate, the end of first connecting rod 8-1 and the external side end of the first lower connecting plate 9-1 are hinged, the inboard end of the other end of first connecting rod 8-1 and the second lower connecting plate 9-2 is hinged, the end of second connecting rod 8-2 and the external side end of the second lower connecting plate 9-2 are hinged, the inboard end of the other end of second connecting rod 8-2 and the 3rd lower connecting plate 9-3 is hinged, the end of third connecting rod 8-3 and the external side end of the 4th lower connecting plate 9-4 are hinged, the inboard end of the other end of third connecting rod 8-3 and the 5th lower connecting plate 9-5 is hinged, the end of the 4th connecting rod 8-4 and the external side end of the 5th lower connecting plate 9-5 are hinged, the inboard end of the other end of the 4th connecting rod 8-4 and the 6th lower connecting plate 9-6 is hinged, first steering wheel 3-1 and second largest steering wheel 3-2 are arranged on the longitudinal centerline I-I of mainboard 2, and first steering wheel 3-1 is at (or first steering wheel 3-1 is between the 4th lower connecting plate 9-4 and the 5th lower connecting plate 9-5) between the first lower connecting plate 9-1 and the second lower connecting plate 9-2, second largest steering wheel 3-2 is at (or between second largest steering wheel 3-2 the 5th lower connecting plate 9-5 and the 6th lower connecting plate 9-6) between the second lower connecting plate 9-2 and the 3rd lower connecting plate 9-3, second largest steering wheel output shaft 3-2-1 on first steering wheel output shaft 3-1-1 on the first steering wheel 3-1 and the second largest steering wheel 3-2 is all outer to be exposed at outside the lower surface of mainboard 2, the end of first steering wheel steering wheel 6-1 and first steering wheel output shaft 3-1-1 are hinged, the end of the other end of first steering wheel steering wheel 6-1 and first steering wheel pull bar 5-1 is hinged, the inboard end of the other end of first steering wheel pull bar 5-1 and the 5th lower connecting plate 9-5 is hinged, the end of second largest steering wheel steering wheel 6-2 and second largest steering wheel output shaft 3-2-1 are hinged, the end of the other end of second largest steering wheel steering wheel 6-2 and second largest steering wheel pull bar 5-2 is hinged, the inboard end of the other end of second largest steering wheel pull bar 5-2 and the second lower connecting plate 9-2 is hinged, six pin mechanisms 4 are corresponding one by one with six lower connecting plates, Connection Block 4-7 in the pin mechanism 4 is housed between the first upper junction plate 7-1 and the first lower connecting plate 9-1, this Connection Block 4-7 and the first upper junction plate 7-1 and the first lower connecting plate 9-1 are hinged, Connection Block 4-7 in the pin mechanism 4 is housed between the second upper junction plate 7-2 and the second lower connecting plate 9-2, this Connection Block 4-7 and the second upper junction plate 7-2 and the second lower connecting plate 9-2 are hinged, Connection Block 4-7 in the pin mechanism 4 is housed between the 3rd upper junction plate 7-3 and the 3rd lower connecting plate 9-3, this Connection Block 4-7 and the 3rd upper junction plate 7-3 and the 3rd lower connecting plate 9-3 are hinged, Connection Block 4-7 in the pin mechanism 4 is housed between the 4th upper junction plate 7-4 and the 4th lower connecting plate 9-4, this Connection Block 4-7 and the 4th upper junction plate 7-4 and the 4th lower connecting plate 9-4 are hinged, Connection Block 4-7 in the pin mechanism 4 is housed between the 5th upper junction plate 7-5 and the 5th lower connecting plate 9-5, this Connection Block 4-7 and the 5th upper junction plate 7-5 and the 5th lower connecting plate 9-5 are hinged, Connection Block 4-7 in the pin mechanism 4 is housed between the 6th upper junction plate 7-6 and the 6th lower connecting plate 9-6, this Connection Block 4-7 and the 6th upper junction plate 7-6 and the 6th lower connecting plate 9-6 are hinged, six little steering wheels 1 are corresponding one by one with six upper junction plates, each little steering wheel 1 is arranged on the upper surface of corresponding upper junction plate, and the little steering wheel output shaft 1-1 on the end of the little steering wheel steering wheel 4-6 in the pin mechanism 4 and the little steering wheel 1 is hinged.Starting first steering wheel steering wheel 6-1 swings, driving the bearing pin 10 of the 5th lower connecting plate 9-5 on the 5th lower connecting plate 9-5 by first steering wheel pull bar 5-1 realizes swinging, realize swinging thereby drive the 4th lower connecting plate 9-4 and the 6th lower connecting plate 9-6, and the 4th lower connecting plate 9-4 is opposite with the swaying direction of the 6th lower connecting plate 9-6.First steering wheel 3-1 drives the 4th lower connecting plate 9-4, the 5th lower connecting plate 9-5 and the 6th lower connecting plate 9-6 by first steering wheel steering wheel 6-1 and first steering wheel pull bar 5-1 and does and swing, the 4th lower connecting plate 9-4, the 5th lower connecting plate 9-5 and the 6th lower connecting plate 9-6 drive pin mechanism 4 actions separately respectively, promptly step the leg action; In like manner, second largest steering wheel 3-2 drives the first lower connecting plate 9-1, the second lower connecting plate 9-2 and the 3rd lower connecting plate 9-3 by second largest steering wheel steering wheel 6-2 and second largest steering wheel pull bar 5-2 and does and swing, the first lower connecting plate 9-1, the second lower connecting plate 9-2 and the 3rd lower connecting plate 9-3 drive pin mechanism 4 actions separately respectively, promptly step the leg action.The pin mechanism 4 that controls respectively on it by six little steering wheels 1 swings, and realizes turning to the left or to the right.
The specific embodiment two: present embodiment is described in conjunction with Fig. 5, each pin mechanism 4 of present embodiment is made up of the first adapter shaft 4-1, the second adapter shaft 4-2, the 3rd adapter shaft 4-3, pin 4-4, pin pull bar 4-5, little steering wheel steering wheel 4-6 and Connection Block 4-7, Connection Block 4-7 is hinged by the first adapter shaft 4-1 and pin 4-4, pin 4-4 can freely rotate, the upper end of pin 4-4 is hinged by the end of the second adapter shaft 4-2 and pin pull bar 4-5, and the other end of pin pull bar 4-5 is hinged by the 3rd adapter shaft 4-3 and little steering wheel steering wheel 4-6.Other composition and annexation are identical with the specific embodiment one.Pin 4-4, pin pull bar 4-5, little steering wheel steering wheel 4-6 and Connection Block 4-7 constitute four-bar linkage.Little steering wheel 1 drives pin 4-4 by little steering wheel steering wheel 4-6 and pin pull bar 4-5, thereby realizes lifting pin and the action of receiving leg.Other composition and annexation are identical with the specific embodiment one.
Principle of work of the present invention: existing the cooresponding pin 4-4 of the first lower connecting plate 9-1 is called a pin A, the cooresponding pin 4-4 of the second lower connecting plate 9-2 is called two pin B, the cooresponding pin 4-4 of the 3rd lower connecting plate 9-3 and is called tripod C, the cooresponding pin 4-4 of the 4th lower connecting plate 9-4 and is called that four pin D, the cooresponding pin 4-4 of the 5th lower connecting plate 9-5 are called five pin E, the cooresponding pin 4-4 of the 6th lower connecting plate 9-6 is called six pin F;
(1), robot straight ahead forward: the action cycle that robot whenever takes a step forward is following four steps: step 1, a pin A, tripod C, when five pin E land, two pin B, four pin D, six pin F lift built on stilts, as shown in Figure 6; Step 2, a pin A, tripod C, five pin E move backward and promote robot and advance, and two pin B, four pin D, six pin F legs travel forward, as shown in Figure 7, and the robot step pitch S/2 that advanced half at this moment; Step 3, two pin B, four pin D, six pin F put down and land, and a pin A, tripod C, five pin E lift built on stilts, as shown in Figure 8; Step 4, two pin B, four pin D, six pin F move backward and promote robot and advance, and a pin A, tripod C, five pin E legs travel forward, as shown in Figure 9, and the robot step pitch S/2 that advanced again half at this moment; Repeat above-mentioned steps, robot continues to move ahead.
(2), robot backward straight line retreat: the action cycle that robot whenever takes a step back is following four steps: step 1, two pin B, four pin D, when six pin F land, a pin A, tripod C, five pin E lift built on stilts, as shown in figure 10; Step 2, two pin B, four pin D, six pin F legs travel forward and promote robot and retreat, and a pin A, tripod C, five pin E move backward, and as shown in figure 11, at this moment robot has retreated step pitch S/2 half; Step 3, a pin A, tripod C, five pin E put down and land, and two pin B, four pin D, six pin F lift built on stilts, as shown in figure 12; Step 4, a pin A, tripod C, five pin E legs travel forward and promote robot and retreat, and two pin B, four pin D, six pin F move backward, and as shown in figure 13, at this moment robot has retreated step pitch S/2 again half; Repeat above-mentioned steps, robot continues to retreat.
(3), the robot flicker: the action cycle of the every flicker certain angle of robot is following four steps: step 1, a pin A, tripod C, when five pin E land, two pin B, four pin D, six pin F lift built on stilts, as shown in figure 14; Step 2, a pin A, tripod C travel forward, and five pin E move backward and promote the robot flicker, and two pin B move backward, and four pin D, six pin F legs travel forward, as shown in figure 15, at this moment robot flicker 1 degree～15 degree; Step 3, two pin B, four pin D, six pin F put down and land, and a pin A, tripod C, five pin E lift built on stilts, as shown in figure 16; Step 4, two pin B travel forward, four pin D, six pin F move backward promotes the robot flicker, and a pin A, tripod C move backward, and five pin E legs travel forward, as shown in figure 17, at this moment robot again flicker 1 degree～15 degree; Repeat above-mentioned steps, robot continues flicker.
(4), the robot flicker: the action cycle of the every flicker certain angle of robot is following four steps: step 1, two pin B, four pin D, when six pin F land, a pin A, tripod C, five pin E lift built on stilts, as shown in figure 18; Step 2, two pin B move backward, and four pin D, six pin F legs travel forward and promote the robot flicker, and a pin A, tripod C travel forward, and five pin E move backward, as shown in figure 19, at this moment robot flicker 1 degree～15 degree; Step 3, a pin A, tripod C, five pin E put down and land, and two pin B, four pin D, six pin F lift built on stilts, as shown in figure 20; Step 4, a pin A, tripod C move backward, and five pin E legs travel forward and promote the robot flicker, and two pin B travel forward, four pin D, six pin F move backward, as shown in figure 21, at this moment robot again flicker 1 degree～15 degree; Repeat above-mentioned steps, robot continues flicker.
(5), a left side is big forward turns for robot: whenever the big action cycle of turning a step of a left side is following four steps to robot forward: step 1, a pin A, tripod C, when five pin E land, two pin B, four pin D, six pin F lift built on stilts, as shown in Figure 6; Step 2, a pin A, tripod C, five pin E move backward and promote robot and advance, two pin B, four pin D, six pin F legs travel forward, as shown in Figure 7, and, the amplitude that one pin A and tripod C move backward is little, the amplitude that five pin E move backward is big, and the proal amplitude of two pin B is little, and four pin D and the proal amplitude of six pin F are big; Step 3, two pin B, four pin D, six pin F put down and land, and a pin A, tripod C, five pin E lift built on stilts, as shown in Figure 8; Step 4, two pin B, four pin D, six pin F move backward and promote robot and advance, one pin A, tripod C, five pin E legs travel forward, as shown in Figure 9, and, the amplitude that two pin B move backward is little, the amplitude that four pin D and six pin F move backward is big, and a pin A and the proal amplitude of tripod C are little, and the proal amplitude of five pin E is big; Repeat above-mentioned steps, robot continues the big turning in a left side forward.
(6), robot is right big forward turns: whenever the right forward big action cycle of turning a step is following four steps to robot: step 1, a pin A, tripod C, when five pin E land, two pin B, four pin D, six pin F lift built on stilts, as shown in Figure 6; Step 2, a pin A, tripod C, five pin E move backward and promote robot and advance, two pin B, four pin D, six pin F legs travel forward, as shown in Figure 7, and, the amplitude that one pin A and tripod C move backward is big, the amplitude that five pin E move backward is little, and the proal amplitude of two pin B is big, and four pin D and the proal amplitude of six pin F are little; Step 3, two pin B, four pin D, six pin F put down and land, and a pin A, tripod C, five pin E lift built on stilts, as shown in Figure 8; Step 4, two pin B, four pin D, six pin F move backward and promote robot and advance, one pin A, tripod C, five pin E legs travel forward, as shown in Figure 9, and, the amplitude that two pin B move backward is big, the amplitude that four pin D and six pin F move backward is little, and a pin A and the proal amplitude of tripod C are big, and the proal amplitude of five pin E is little; Repeat above-mentioned steps, robot continues the big turning in a left side forward; Repeat above-mentioned steps, robot continues right forward big the turning.
(7), a left side is big backward turns for robot: whenever the big action cycle of turning a step of a left side is following four steps to robot backward: step 1, two pin B, four pin D, when six pin F land, a pin A, tripod C, five pin E lift built on stilts, as shown in figure 10; Step 2, two pin B, four pin D, six pin F legs travel forward and promote robot and retreat, one pin A, tripod C, five pin E move backward, as shown in figure 11, and, the proal amplitude of two pin B is little, four pin D and the proal amplitude of six pin F are big, and the amplitude that a pin A and tripod C move backward is little, and the amplitude that five pin E move backward is big; Step 3, a pin A, tripod C, five pin E put down and land, and two pin B, four pin D, six pin F lift built on stilts, as shown in figure 12; Step 4, a pin A, tripod C, five pin E legs travel forward and promote robot and retreat, two pin B, four pin D, six pin F move backward, as shown in figure 13, and, one pin A and the proal amplitude of tripod C are little, the proal amplitude of five pin E is big, and the amplitude that two pin B move backward is little, and the amplitude that four pin D and six pin F move backward is big; Repeat above-mentioned steps, robot continues the big turning in a left side backward.
(8), robot is right big backward turns: whenever the right backward big action cycle of turning a step is following four steps to robot: step 1, two pin B, four pin D, when six pin F land, a pin A, tripod C, five pin E lift built on stilts, as shown in figure 10; Step 2, two pin B, four pin D, six pin F legs travel forward and promote robot and retreat, one pin A, tripod C, five pin E move backward, as shown in figure 11, and, the proal amplitude of two pin B is big, four pin D and the proal amplitude of six pin F are little, and the amplitude that a pin A and tripod C move backward is big, and the amplitude that five pin E move backward is little; Step 3, a pin A, tripod C, five pin E put down and land, and two pin B, four pin D, six pin F lift built on stilts, as shown in figure 12; Step 4, a pin A, tripod C, five pin E legs travel forward and promote robot and retreat, two pin B, four pin D, six pin F move backward, as shown in figure 13, and, one pin A and the proal amplitude of tripod C are big, the proal amplitude of five pin E is little, and the amplitude that two pin B move backward is big, and the amplitude that four pin D and six pin F move backward is little; Repeat above-mentioned steps, robot continues right backward big the turning.
Claims (2)
1. six-foot crawling robot, it is characterized in that: described robot is by six little steering wheels (1), mainboard (2), first steering wheel (3-1), second largest steering wheel (3-2), six pin mechanisms (4), first steering wheel pull bar (5-1), second largest steering wheel pull bar (5-2), first steering wheel steering wheel (6-1), second largest steering wheel steering wheel (6-2), first upper junction plate (7-1), second upper junction plate (7-2), the 3rd upper junction plate (7-3), the 4th upper junction plate (7-4), the 5th upper junction plate (7-5), the 6th upper junction plate (7-6), first connecting rod (8-1), second connecting rod (8-2), third connecting rod (8-3), the 4th connecting rod (8-4), first lower connecting plate (9-1), second lower connecting plate (9-2), the 3rd lower connecting plate (9-3), the 4th lower connecting plate (9-4), the 5th lower connecting plate (9-5), the 6th lower connecting plate (9-6) and six bearing pins (10) are formed, first lower connecting plate (9-1), second lower connecting plate (9-2), the 3rd lower connecting plate (9-3), the 4th lower connecting plate (9-4), the 5th lower connecting plate (9-5) and the 6th lower connecting plate (9-6) all be positioned at mainboard (2) below, and second lower connecting plate (9-2) and the 5th lower connecting plate (9-5) are that benchmark is symmetrical arranged with mainboard (2) longitudinal centerline (I-I), first lower connecting plate (9-1) and the 3rd lower connecting plate (9-3) are symmetricly set on the both sides of second lower connecting plate (9-2), the 4th lower connecting plate (9-4) and the 6th lower connecting plate (9-6) are symmetricly set on the both sides of the 5th lower connecting plate (9-5), first upper junction plate (7-1), second upper junction plate (7-2), the 3rd upper junction plate (7-3), the 4th upper junction plate (7-4), the 5th upper junction plate (7-5) and the 6th upper junction plate (7-6) all be positioned at mainboard (2) above, first upper junction plate (7-1) is corresponding with first lower connecting plate (9-1), and first upper junction plate (7-1) and first lower connecting plate (9-1) are hinged by a bearing pin (10) and mainboard (2), second upper junction plate (7-2) and the corresponding setting of second lower connecting plate (9-2), and second upper junction plate (7-2) and second lower connecting plate (9-2) are hinged by a bearing pin (10) and mainboard (2), the 3rd upper junction plate (7-3) and the corresponding setting of the 3rd lower connecting plate (9-3), and the 3rd upper junction plate (7-3) and the 3rd lower connecting plate (9-3) are hinged by a bearing pin (10) and mainboard (2), the 4th upper junction plate (7-4) and the corresponding setting of the 4th lower connecting plate (9-4), and the 4th upper junction plate (7-4) and the 4th lower connecting plate (9-4) are hinged by a bearing pin (10) and mainboard (2), the 5th upper junction plate (7-5) and the corresponding setting of the 5th lower connecting plate (9-5), and the 5th upper junction plate (7-5) and the 5th lower connecting plate (9-5) are hinged by a bearing pin (10) and mainboard (2), the 6th upper junction plate (7-6) and the corresponding setting of the 6th lower connecting plate (9-6), and the 6th upper junction plate (7-6) and the 6th lower connecting plate (9-6) are hinged by a bearing pin (10) and mainboard (2), the external side end of one end of first connecting rod (8-1) and first lower connecting plate (9-1) is hinged, the inboard end of the other end of first connecting rod (8-1) and second lower connecting plate (9-2) is hinged, the external side end of one end of second connecting rod (8-2) and second lower connecting plate (9-2) is hinged, the inboard end of the other end of second connecting rod (8-2) and the 3rd lower connecting plate (9-3) is hinged, the external side end of one end of third connecting rod (8-3) and the 4th lower connecting plate (9-4) is hinged, the inboard end of the other end of third connecting rod (8-3) and the 5th lower connecting plate (9-5) is hinged, the external side end of one end of the 4th connecting rod (8-4) and the 5th lower connecting plate (9-5) is hinged, the inboard end of the other end of the 4th connecting rod (8-4) and the 6th lower connecting plate (9-6) is hinged, first steering wheel (3-1) and second largest steering wheel (3-2) are arranged on the longitudinal centerline (I-I) of mainboard (2), and first steering wheel (3-1) is positioned between first lower connecting plate (9-1) and second lower connecting plate (9-2), second largest steering wheel (3-2) is positioned between second lower connecting plate (9-2) and the 3rd lower connecting plate (9-3), first steering wheel output shaft (3-1-1) on the first steering wheel (3-1) and the second largest steering wheel output shaft (3-2-1) on the second largest steering wheel (3-2) are all outer to be exposed at outside the lower surface of mainboard (2), one end of first steering wheel steering wheel (6-1) and first steering wheel output shaft (3-1-1) are hinged, one end of the other end of first steering wheel steering wheel (6-1) and first steering wheel pull bar (5-1) is hinged, the inboard end of the other end of first steering wheel pull bar (5-1) and the 5th lower connecting plate (9-5) is hinged, one end of second largest steering wheel steering wheel (6-2) and second largest steering wheel output shaft (3-2-1) are hinged, one end of the other end of second largest steering wheel steering wheel (6-2) and second largest steering wheel pull bar (5-2) is hinged, the inboard end of the other end of second largest steering wheel pull bar (5-2) and second lower connecting plate (9-2) is hinged, six pin mechanisms (4) are corresponding one by one with six lower connecting plates, Connection Block (4-7) in the pin mechanism (4) is housed between first upper junction plate (7-1) and first lower connecting plate (9-1), this Connection Block (4-7) is hinged with first upper junction plate (7-1) and first lower connecting plate (9-1), Connection Block (4-7) in the pin mechanism (4) is housed between second upper junction plate (7-2) and second lower connecting plate (9-2), this Connection Block (4-7) is hinged with second upper junction plate (7-2) and second lower connecting plate (9-2), Connection Block (4-7) in the pin mechanism (4) is housed between the 3rd upper junction plate (7-3) and the 3rd lower connecting plate (9-3), this Connection Block (4-7) is hinged with the 3rd upper junction plate (7-3) and the 3rd lower connecting plate (9-3), Connection Block (4-7) in the pin mechanism (4) is housed between the 4th upper junction plate (7-4) and the 4th lower connecting plate (9-4), this Connection Block (4-7) is hinged with the 4th upper junction plate (7-4) and the 4th lower connecting plate (9-4), Connection Block (4-7) in the pin mechanism (4) is housed between the 5th upper junction plate (7-5) and the 5th lower connecting plate (9-5), this Connection Block (4-7) is hinged with the 5th upper junction plate (7-5) and the 5th lower connecting plate (9-5), Connection Block (4-7) in the pin mechanism (4) is housed between the 6th upper junction plate (7-6) and the 6th lower connecting plate (9-6), this Connection Block (4-7) is hinged with the 6th upper junction plate (7-6) and the 6th lower connecting plate (9-6), six little steering wheels (1) are corresponding one by one with six upper junction plates, each little steering wheel (1) is arranged on the upper surface of corresponding upper junction plate, and an end and the little steering wheel output shaft (1-1) on the little steering wheel (1) of the little steering wheel steering wheel (4-6) in the pin mechanism (4) are hinged.
2. according to the described six-foot crawling robot of claim 1, it is characterized in that: described each pin mechanism (4) is by first adapter shaft (4-1), second adapter shaft (4-2), the 3rd adapter shaft (4-3), pin (4-4), pin pull bar (4-5), little steering wheel steering wheel (4-6) and Connection Block (4-7) are formed, Connection Block (4-7) is hinged by first adapter shaft (4-1) and pin (4-4), the upper end of pin (4-4) is hinged with an end of pin pull bar (4-5) by second adapter shaft (4-2), and the other end of pin pull bar (4-5) is hinged by the 3rd adapter shaft (4-3) and little steering wheel steering wheel (4-6).
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| CN 201010179007 CN101830253A (en) | 2010-05-21 | 2010-05-21 | Six-foot crawling robot |
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| CN 201010179007 CN101830253A (en) | 2010-05-21 | 2010-05-21 | Six-foot crawling robot |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102416986A (en) * | 2011-11-01 | 2012-04-18 | 北京航空航天大学 | Six-foot ant robot |
| CN102689659A (en) * | 2011-03-21 | 2012-09-26 | 洪浛檩 | Gait of precise positioning of three-steering engine hexapod robot |
| CN103148314A (en) * | 2013-03-06 | 2013-06-12 | 北京隆科兴非开挖工程有限公司 | Pipeline walking robot |
| CN103481964A (en) * | 2013-09-13 | 2014-01-01 | 北京航空航天大学 | Six-leg walking robot capable of crossing obstacles |
| CN103612686A (en) * | 2013-12-10 | 2014-03-05 | 罗定职业技术学院 | Six-foot upright walking robot |
| CN104960591A (en) * | 2015-07-10 | 2015-10-07 | 陕西九立机器人制造有限公司 | Hexapod robot |
| CN105151157A (en) * | 2015-10-19 | 2015-12-16 | 南京林业大学 | Hexapod bionic robot |
| CN105150206A (en) * | 2015-09-28 | 2015-12-16 | 哈尔滨工业大学深圳研究生院 | Six-leg and double-arm compound type mobile robot system |
| CN105752195A (en) * | 2016-03-31 | 2016-07-13 | 重庆交通大学 | Bridge detecting robot |
| CN107813323A (en) * | 2017-11-29 | 2018-03-20 | 成都大学 | A kind of bionic type ant robot |
| CN112845416A (en) * | 2021-01-19 | 2021-05-28 | 兰州凯宏中原石油科技有限公司 | Flushing device for petroleum fracturing acidizing fluid jet pipe column |
| CN113734314A (en) * | 2021-06-18 | 2021-12-03 | 哈尔滨工业大学（深圳） | Liftable wheel type mechanism for foot type bionic robot |
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| CN114348141A (en) * | 2022-02-10 | 2022-04-15 | 哈尔滨工业大学（深圳） | Crawling robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102689659A (en) * | 2011-03-21 | 2012-09-26 | 洪浛檩 | Gait of precise positioning of three-steering engine hexapod robot |
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| CN103612686B (en) * | 2013-12-10 | 2016-01-27 | 罗定职业技术学院 | A kind of six sufficient vertical type walking robots |
| CN103612686A (en) * | 2013-12-10 | 2014-03-05 | 罗定职业技术学院 | Six-foot upright walking robot |
| CN104960591A (en) * | 2015-07-10 | 2015-10-07 | 陕西九立机器人制造有限公司 | Hexapod robot |
| CN104960591B (en) * | 2015-07-10 | 2017-05-24 | 陕西九立机器人制造有限公司 | Hexapod robot |
| CN105150206A (en) * | 2015-09-28 | 2015-12-16 | 哈尔滨工业大学深圳研究生院 | Six-leg and double-arm compound type mobile robot system |
| CN105151157A (en) * | 2015-10-19 | 2015-12-16 | 南京林业大学 | Hexapod bionic robot |
| CN105752195A (en) * | 2016-03-31 | 2016-07-13 | 重庆交通大学 | Bridge detecting robot |
| CN105752195B (en) * | 2016-03-31 | 2018-09-21 | 重庆交通大学 | Bridge machinery robot |
| CN107813323A (en) * | 2017-11-29 | 2018-03-20 | 成都大学 | A kind of bionic type ant robot |
| CN107813323B (en) * | 2017-11-29 | 2024-03-19 | 成都大学 | Bionic ant robot |
| CN112845416A (en) * | 2021-01-19 | 2021-05-28 | 兰州凯宏中原石油科技有限公司 | Flushing device for petroleum fracturing acidizing fluid jet pipe column |
| CN113734314A (en) * | 2021-06-18 | 2021-12-03 | 哈尔滨工业大学（深圳） | Liftable wheel type mechanism for foot type bionic robot |
| CN114179932A (en) * | 2021-12-30 | 2022-03-15 | 葛君 | Multi-legged robot based on flexible bending structure |
| CN114348141A (en) * | 2022-02-10 | 2022-04-15 | 哈尔滨工业大学（深圳） | Crawling robot |
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