CN103481964B - A kind of Six-foot walking robot with obstacle climbing ability - Google Patents

A kind of Six-foot walking robot with obstacle climbing ability Download PDF

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Publication number
CN103481964B
CN103481964B CN201310418519.7A CN201310418519A CN103481964B CN 103481964 B CN103481964 B CN 103481964B CN 201310418519 A CN201310418519 A CN 201310418519A CN 103481964 B CN103481964 B CN 103481964B
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China
Prior art keywords
steering wheel
plate
bearing
fixed
spring
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CN201310418519.7A
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Chinese (zh)
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CN103481964A (en
Inventor
陈伟海
刘冬
裴忠才
王建华
任冠佼
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Beihang University
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Beihang University
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Publication of CN103481964B publication Critical patent/CN103481964B/en
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Abstract

The invention discloses a kind of Six-foot walking robot with obstacle climbing ability, it includes left front leg (1), RAT (2), left leg (3), right leg (4), left back leg (5), right rear leg (6) and trunk body (7), and described trunk body (7) is made up of front end body (7A) and rear end body (7B); And six legs are symmetrical arranged with trunk body (7).Each leg has three joints, and be hip joint, large leg joint and calf joint respectively, the coordination in three joints ensure that the swing of each leg, dipping and heaving and flexion and extension.The combination of three joints and joint of trunk ensure that Six-foot walking robot is at throwing over barrier and carrying capacity good when climbing.The foot of each leg adopts buffering to connect, and can complete damping energy storage recycling within a cycle of taking a step.The Six-foot walking robot motion of the present invention's design flexibly, response is rapid, motion space is large, movement inertia is little, is applicable to the motion under the non-structural topographic condition of field complexity.

Description

A kind of Six-foot walking robot with obstacle climbing ability
Technical field
The present invention relates to a kind of walking robot, more particularly, refer to a kind of 19 freedom six feet walking robots with body joints with obstacle climbing ability.
Background technology
Robot is divided into wheeled robot, caterpillar type robot and legged type robot etc. usually.Wherein, legged type robot, namely walking robot, can stride across larger obstacle (Ru Gou, bank etc.), and a large amount of degree of freedom that the leg of robot has can make the motion of robot more flexible.Be compared to wheeled and caterpillar type robot, the landform of walking robot to complexity has stronger adaptive capacity, therefore has a wide range of applications, such as deep space probing, supervision and scouting, mining, nuclear power industry, earthquake Post disaster relief etc.
As the Typical Representative of Multifeet walking robot, the feature of Six-foot walking robot has abundant gait and efficiently can walk on complex road surface, there is multiple gait, the requirement of asynchronous line speed and load can be adapted to, the extremity body structures of redundancy, making it still can continue when losing some limbs to perform certain task, improve the reliability of system.The advantage of Six-foot walking robot make its be particularly adapted at performing in complicated natural environment field investigation, under water search and deep space probing etc. to independence, task that reliability requirement is higher.
Six biped robots have a lot of sorting technique, such as series parallel structure, type of drive, leg number of degrees of freedom etc.Six biped robots need every bar leg at least to need three degree of freedom.Because the extremity body structures of this structure and insect is the most close, stable gesture stability can be realized, take action also more flexible.So from after the Robot II of nineteen ninety-five, six biped robots become main flow with every bar leg 3 degree of freedom.The Six-foot walking robot therefore with 18 degree of freedom becomes main flow.The robot architecture of this configuration is simple, control is easy, kinematic accuracy is high, but the scarce capacity of reply irregular terrain profiles, especially when throwing over barrier or climbing, time the foreleg of robot can not provide and well support, stability and the landform carrying capacity of body are affected.
Summary of the invention
In order to solve the problem of existing Six-foot walking robot obstacle climbing ability deficiency, the present invention proposes a kind of Six-foot walking robot with obstacle climbing ability.By adding an initiatively degree of freedom on the trunk of Six-foot walking robot, making existing Six-foot walking robot have 19 degree of freedom, thus improve the obstacle climbing ability of existing six biped robots.Six-foot walking robot of the present invention includes left front leg 1, RAT 2, left leg 3, right leg 4, left back leg 5, right rear leg 6 and trunk body 7, and described trunk body 7 is made up of front end body 7A and rear end body 7B.Article six, leg structure is identical, in symmetrical with the line of centers of trunk body 7 (i.e. X-axis line).Each leg has three joints, and be hip joint, large leg joint and calf joint respectively, the coordination in three joints ensure that the swing of each leg, dipping and heaving and flexion and extension.The combination of three joints and joint of trunk ensure that Six-foot walking robot is at throwing over barrier and carrying capacity good when climbing.The foot of each leg adopts buffering to connect, and can complete damping energy storage recycling within a cycle of taking a step.The Six-foot walking robot motion of the present invention's design flexibly, response is rapid, motion space is large, movement inertia is little, is applicable to the motion under the non-structural topographic condition of field complexity.
A kind of Six-foot walking robot with obstacle climbing ability of the present invention, it includes six legs and a trunk body, and the both sides of described trunk body are dispersed with six legs; Described six legs refer to left front leg, RAT, left leg, right leg, left back leg, right rear leg; And left front leg, RAT, left leg, right leg, left back leg are identical with the structure of right rear leg; Described trunk body is divided into front end body and rear end body.
Left front leg 1 includes AD steering wheel support 1A, AG steering wheel support 1B, AA transmission plate 1C, AB transmission plate 1D, AA connecting panel 1E, AB connecting panel 1F, AA swivel bearing 1G, AA linear bearing 1P, AA pressure sensor 1M, AA spring 1I, AB spring 1H, AA slide bar 1J, AA rubber feet pad 1K, AA pad 1L, AA external 1N and AA sleeve 1Q.Wherein, AA external 1N, AA sleeve 1Q, AA slide bar 1J, AA rubber feet pad 1K, AA linear bearing 1P, AA pressure sensor 1M, AA spring 1I, AB spring 1H and AA pad 1L belongs to calf joint.
One end of AA slide bar 1J is arranged in AA rubber feet pad 1K, and the other end of AA slide bar 1J contacts with AA pressure sensor 1M; AA slide bar 1J is socketed with AA spring 1I, AA linear bearing 1P and AA sleeve 1Q, and the end thereof contacts of the end of AA linear bearing 1P and AA spring 1I, the other end of AA spring 1I is stopped by the dome ring 1J1 on AA slide bar 1J;
The upper end of AA sleeve 1Q is inserted in one end of AA linear bearing 1P; The bottom of AA sleeve 1Q and AD steering wheel support 1A is fixed;
The external 1N of AA is fixed in the lateral plates of AD steering wheel support 1A, is placed with AB spring 1H, AA pad 1L and AA pressure sensor 1M in the external 1N of AA; AA pad 1L is provided with between AB spring 1H and AA pressure sensor 1M.
AD steering wheel support 1A is for installing AD steering wheel 8D;
Bottom and the AA sleeve 1Q of AD steering wheel support 1A fix.
AG steering wheel support 1B is for installing AG steering wheel 8G; Top and the AA transmission plate 1C of AG steering wheel support 1B fix, and bottom and the AB transmission plate 1D of AG steering wheel support 1B fix.
One end of AA transmission plate 1C is connected to AA swivel bearing 1G(AA swivel bearing 1G and is arranged on the AA driving rotor 8A1 of AA steering wheel 8A) on, the other end of AA transmission plate 1C is fixed on the top of AG steering wheel support 1B.
One end of AB transmission plate 1D is connected to the AA driven rotor of AA steering wheel 8A, and (AA driven rotor and AA driving rotor 8A1 are oppositely arranged on the both sides of AA steering wheel 8A, the accompanying drawing number of AA driven rotor is not shown in the drawings) on, the other end of AB transmission plate 1D is fixed on the bottom of AG steering wheel support 1B.
One end of AA connecting panel 1E is connected with the AG driven rotor of AG steering wheel 8G, and the other end of AA connecting panel 1E is connected with the AD driven rotor of AD steering wheel 8D.
One end of AB connecting panel 1F is connected with the AG driving rotor 8G1 of AG steering wheel 8G, and the other end of AA connecting panel 1E is connected with the AD driving rotor 8D1 of AD steering wheel 8D.
Front end body 7A includes A stay bearing plate 7A01, A cover plate 7A02, A left riser 7A03, A right riser 7A04, front U-board 7A05, rear U-board 7A06, AA steering wheel frame 7A07 and BA steering wheel frame 7A08;
The left end of A stay bearing plate 7A01 is that AA installs plate 7A011, and the right-hand member of A stay bearing plate 7A01 is that BA installs plate 7A012, is intermediate mass 7A013 between AA adapter plate 7A011 and BA adapter plate 7A012; Described AA installs on plate 7A011 for fixing AA steering wheel 8A; Described BA installs on plate 7A012 for fixing BA steering wheel 9A; Described intermediate mass 7A013 is fixed with the right riser 7A04 of A left riser 7A03, A, and is spaced in intervals between the right riser 7A04 of A left riser 7A03 and A.
AA steering wheel frame 7A07 is provided with transverse slat 7A071 and riser 7A072; Transverse slat 7A071 is used for fixing AA steering wheel 8A; Riser 7A072 is fixed on the left riser 7A03 of A; The assembling of the left riser 7A03 of AA steering wheel frame 7A07 and A, the transverse slat 7A071 of AA steering wheel frame 7A07 and the AA of A stay bearing plate 7A01 is installed between plate 7A011 and is spaced in intervals, this spacing is just in time for fixed placement AA steering wheel 8A.
BA steering wheel frame 7A08 is provided with transverse slat 7A081 and riser 7A082; Transverse slat 7A081 is used for fixing BA steering wheel 9A; Riser 7A082 is fixed on the right riser 7A04 of A; The assembling of the right riser 7A04 of BA steering wheel frame 7A08 and A, the transverse slat 7A081 of BA steering wheel frame 7A08 and the BA of A stay bearing plate 7A01 is installed between plate 7A012 and is spaced in intervals, this spacing is just in time for fixed placement BA steering wheel 9A.
One end of front U-board 7A05 is the other end of upper fitting 7A051, front U-board 7A05 is lower fitting 7A052, is middle fitting 7A053 between upper fitting 7A051 and lower fitting 7A052.Upper fitting 7A051 is connected with A cover plate 7A02.Lower fitting 7A052 is connected with the intermediate die plate 7A013 of A stay bearing plate 7A01.Middle fitting 7A053 is connected with the middle fitting 7A063 of rear U-board 7A06.
One end of rear U-board 7A06 is the other end of left fitting 7A061, rear U-board 7A06 is right fitting 7A062, is middle fitting 7A063 between left fitting 7A061 and right fitting 7A062.Left fitting 7A061 is connected with the roller bearing end cap 7B907 in the obstacle detouring transmission component 7B09 of rear end body 7B.Right fitting 7A062 is connected with the flange of the passive tooth wheel shaft 7B909 in the obstacle detouring transmission component 7B09 of rear end body 7B.Middle fitting 7A063 is connected with the middle fitting 7A053 of front U-board 7A05.
Rear end body 7B includes B stay bearing plate 7B01, B cover plate 7B02, B left riser 7B03, B right riser 7B04, C left riser 7B13, C right riser 7B14, front L shaped plate 7B05, back L-shaped slab 7B06, AB steering wheel frame 7B07, AC steering wheel frame 7B17, BB steering wheel frame 7B08, BC steering wheel frame 7B18 and obstacle detouring transmission component 7B09;
B stay bearing plate 7B01 is provided with AB and installs plate 7B011, AC installation plate 7B014, BB installation plate 7B012 unit, BC installation plate 7B015, flange block 7B017, it is that A lightening hole 7B013, AC install plate 7B014 and BC to install between plate 7B015 be B lightening hole 7B016 that AB installs that plate 7B011 and BB installs between plate 7B012; Described AB installs on plate 7B011 for fixing AB steering wheel 8B; Described BB installs on plate 7B012 for fixing BB steering wheel 9B; The both sides of described A lightening hole 7B013 are used for the fixing right riser 7B04 of B left riser 7B03, B, and are spaced in intervals between the right riser 7B04 of B left riser 7B03 and B; The both sides of described B lightening hole 7B016 are used for the right riser 7B14 of fixation of C left riser 7B13, C, and are spaced in intervals between the right riser 7B14 of C left riser 7B13 and C; Described flange block 7B17 is fixed with obstacle detouring transmission component 7B09, front L shaped plate 7B05 and back L-shaped slab 7B06.
AB steering wheel frame 7B07 is provided with transverse slat 7B071 and riser 7B072; Transverse slat 7B071 is used for fixing AB steering wheel 8B; Riser 7B072 is fixed on the left riser 7B03 of B; The assembling of the left riser 7B03 of AB steering wheel frame 7B07 and B, the transverse slat 7B071 of AB steering wheel frame 7B07 and the AB of B stay bearing plate 7B01 is installed between plate 7B011 and is spaced in intervals, this spacing is just in time for fixed placement AB steering wheel 8B.
AC steering wheel frame 7B17 is provided with transverse slat 7B171 and riser 7B172; Transverse slat 7B171 is used for fixing AC steering wheel 8C; Riser 7B172 is fixed on the left riser 7B13 of C; The assembling of the left riser 7B13 of AC steering wheel frame 7B17 and C, the transverse slat 7B171 of AC steering wheel frame 7B17 and the AC of B stay bearing plate 7B01 is installed between plate 7B014 and is spaced in intervals, this spacing is just in time for fixed placement AC steering wheel 8C.
BB steering wheel frame 7B08 is provided with transverse slat 7B081 and riser 7B082; Transverse slat 7B081 is used for fixing BB steering wheel 9B; Riser 7B082 is fixed on the right riser 7B04 of B; The assembling of the right riser 7B04 of BB steering wheel frame 7B08 and B, the transverse slat 7B081 of BB steering wheel frame 7B08 and the BB of B stay bearing plate 7B01 is installed between plate 7B012 and is spaced in intervals, this spacing is just in time for fixed placement BB steering wheel 9B.
BC steering wheel frame 7B18 is provided with transverse slat 7B181 and riser 7B182; Transverse slat 7B181 is used for fixing BC steering wheel 9C; Riser 7B182 is fixed on the right riser 7B14 of C; The assembling of the right riser 7B14 of BC steering wheel frame 7B18 and C, the transverse slat 7B181 of BC steering wheel frame 7B18 and the BC of B stay bearing plate 7B01 is installed between plate 7B015 and is spaced in intervals, this spacing is just in time for fixed placement BC steering wheel 9C.
Front L shaped plate 7B05 and back L-shaped slab 7B06 is staggered relatively and be fixed on flange block 7B17, fixedly mounts trunk steering wheel 7C between front L shaped plate 7B05 and back L-shaped slab 7B06.
Obstacle detouring transmission component 7B09 includes driving gear 7B906, driving gear shaft 7B905, ring gear 7B908, passive tooth wheel shaft 7B909, left bearing 7B903, right bearing 7B904, bearing left locating plate 7B901 and the right locating plate 7B902 of bearing; Bearing left locating plate 7B901 and bearing right locating plate 7B902 keeping parallelism and be fixedly mounted on the flange block 7B017 of B stay bearing plate 7B01; Driving gear 7B906 is arranged on driving gear shaft 7B905 by flat key 7B915, and the end of driving gear 7B906 is clamped by back-up ring 7B914; Ring gear 7B908 is arranged on passive tooth wheel shaft 7B909 by flat key 7B913, and one end of ring gear 7B908 withstands on the inner ring of left bearing 7B903, the other end of ring gear 7B908 is fixed by the shaft shoulder 7B9092 on passive tooth wheel shaft 7B909, by metal washer 7B912, rubber cradle 7B911 compensated position gap; Left bearing 7B903 is arranged in the bearing bore 7B9011 of the left locating plate 7B901 of bearing, and the outer ring of left bearing 7B903 is fixed by described bearing bore 7B9011, and the inner ring of left bearing 7B903 is fixed by ring gear 7B908; Right bearing 7B904 is arranged in the bearing bore 7B9021 of the right locating plate 7B902 of bearing, and the outer ring of right bearing 7B904 is fixed by described bearing bore 7B9021, the inner ring of right bearing 7B904 is fixed by the back-up ring 7B910 on the groove 7B9091 that is stuck in passive tooth wheel shaft 7B909 and is provided with.Described passive tooth wheel shaft 7B909 is with flange.
In the present invention, one end of the passive tooth wheel shaft 7B909 of obstacle detouring transmission component 7B09 is arranged in the bearing bore of bearing right locating plate 7B902 through right bearing 7B904(right bearing 7B904 in turn), back-up ring 7B910, ring gear 7B908, rubber cradle 7B911, metal washer 7B912, left bearing 7B903(left bearing 7B903 be arranged in the bearing bore of the left locating plate 7B901 of bearing) after be connected on roller bearing end cap 7B907.Flat key 7B913 is separately fixed in the keyway 7B9092 of passive tooth wheel shaft 7B909 and the keyway 7B9071 of roller bearing end cap 7B907, effectively ensure that being synchronized with the movement of roller bearing end cap 7B907 and passive tooth wheel shaft 7B909.
In the present invention, the driving rotor of trunk steering wheel 7C is connected on driving gear shaft 7B905, and driving gear shaft 7B905 one end is through driving gear 7B906 and back-up ring 7B914.
Accompanying drawing explanation
Fig. 1 is the three-dimensional structure diagram that the present invention has the Six-foot walking robot of obstacle climbing ability; Figure 1A is the birds-eye view that the present invention has the Six-foot walking robot of obstacle climbing ability; Figure 1B is the left view that the present invention has the Six-foot walking robot of obstacle climbing ability; Fig. 2 is the constructional drawing of trunk body of the present invention; Fig. 2 A is the exploded drawings of front end of the present invention body; Fig. 3 is the constructional drawing of rear end of the present invention body; Fig. 3 A is the three-dimensional structure diagram of obstacle detouring transmission component in the body of rear end of the present invention; Fig. 3 B is the constructional drawing of the roller bearing end cap in obstacle detouring transmission component of the present invention; Fig. 3 C is the exploded drawings of rear end of the present invention body; Fig. 4 is the three-dimensional structure diagram of left front leg of the present invention; Fig. 4 A is the three-dimensional structure diagram of lower leg portion in left front leg of the present invention; Fig. 4 B is the exploded drawings of left front leg of the present invention; Fig. 4 C is the exploded drawings of the left leg of the present invention; Fig. 4 D is the exploded drawings of the left back leg of the present invention; Fig. 5 is the three-dimensional structure diagram of RAT of the present invention; Fig. 5 A is the exploded drawings of RAT of the present invention; Fig. 5 B is the exploded drawings of the right leg of the present invention; Fig. 5 C is the exploded drawings of right rear leg of the present invention.
1. left front leg 1A.AD steering wheel support 1B.AG steering wheel support 1C.AA transmission plate
1D.AB transmission plate 1E.AA connecting panel 1F.AB connecting panel 1G.AA swivel bearing
1H.AB spring 1I.AA spring 1J.AA slide bar 1J1. dome ring
1K.AA rubber feet pad 1L.AA pad 1M.AA pressure sensor 1N.AA is external
1P.AA linear bearing 1Q.AA sleeve 2. RAT 2A.BD steering wheel support
2B.BG steering wheel support 2C.BA transmission plate 2D.BB transmission plate 2E.BA connecting panel
2F.BB connecting panel 2G.BA swivel bearing 2H.BB spring 2I.BA spring
2J.BA slide bar 2J1. dome ring 2K.BA rubber feet pad 2L.BA pad
2M.BA pressure sensor 2N.BA is external 2P.BA linear bearing 2Q.BA sleeve
3. left leg 3A.AE steering wheel support 3B.AH steering wheel support 3C.AC transmission plate
3D.AD transmission plate 3E.AC connecting panel 3F.AD connecting panel 3G.AB swivel bearing
3H.AD spring 3I.AC spring 3J.AB slide bar 3J1. dome ring
3K.AB rubber feet pad 3L.AB pad 3M.AB pressure sensor 3N.AB is external
3P.AB linear bearing 3Q.AB sleeve 4. right leg 4A.BE steering wheel support
4B.BH steering wheel support 4C.BC transmission plate 4D.BD transmission plate 4E.BC connecting panel
4F.BD connecting panel 4G.BB swivel bearing 4H.BD spring 4I.BC spring
4J.BB slide bar 4J1. dome ring 4K.BB rubber feet pad 4L.BB pad
4M.BB pressure sensor 4N.BB is external 4P.BB linear bearing 4Q.BB sleeve
5. left back leg 5A.AF steering wheel support 5B.AJ steering wheel support 5C.AE transmission plate
5D.AF transmission plate 5E.AE connecting panel 5F.AF connecting panel 5G.AC swivel bearing
5H.AF spring 5I.AE spring 5J.AC slide bar 5J1. dome ring
5K.AC rubber feet pad 5L.AC pad 5M.AC pressure sensor 5N.AC is external
5P.AC linear bearing 5Q.AC sleeve 6. right rear leg 6A.BF steering wheel support
6B.BJ steering wheel support 6C.BE transmission plate 6D.BF transmission plate 6E.BE connecting panel
6F.BF connecting panel 6G.BC swivel bearing 6H.BF spring 6I.BE spring
6J.BC slide bar 6J1. dome ring 6K.BC rubber feet pad 6L.BC pad
6M.BC pressure sensor 6N.BC is external 6P.BC linear bearing 6Q.BC sleeve
7. trunk body 7A. front end body 7A01.A stay bearing plate 7A011.AA installation plate
7A012.BA installation plate 7A013. intermediate mass 7A02.A cover plate 7A03.A left riser
7A04.A right riser 7A05. front U-board 7A051. upper fitting 7A052. lower fitting
7A053. middle fitting 7A06. rear U-board 7A061. left fitting 7A062. right fitting
7A063. middle fitting 7A07.AA steering wheel frame 7A071. transverse slat 7A072. riser
7A08.BA steering wheel frame 7A081. transverse slat 7A082. riser 7B. rear end body
7B01.B stay bearing plate 7B011.AB installation plate 7B012.BB installation plate 7B013.A lightening hole
7B014.AC installation plate 7B015.BC installation plate 7B016.B lightening hole 7B017. flange block
7B02.B cover plate 7B03.B left riser 7B04.B right riser 7B13.C left riser
7B14.C right riser 7B05. front L shaped plate 7A06. back L-shaped slab 7B07.AB steering wheel frame
7B071. transverse slat 7B072. riser 7B08.BB steering wheel frame 7B081. transverse slat
7B082. riser 7B17.AC steering wheel frame 7B171. transverse slat 7B172. riser
7B18.BC steering wheel frame 7B181. transverse slat 7B182. riser 7B09. obstacle detouring transmission component
7B901. the left locating plate of bearing 7B9011. bearing bore 7B902. the right locating plate of bearing 7B9021. bearing bore
7B903. left bearing 7B904. right bearing 7B905. driving gear shaft 7B906. driving gear
7B907. roller bearing end cap 7B9071. keyway 7B908. ring gear 7B909. passive tooth wheel shaft
7B9091. groove 7B9092. keyway 7B910. back-up ring 7B911. rubber cradle
7B912. metal washer 7B913. flat key 7B914. back-up ring 7B915. flat key
Machine plate before 7A09. steering wheel The left locating plate of 7A07. bearing The right locating plate of 7A08. bearing 7C. trunk steering wheel
8A.AA steering wheel 8A1.AA driving rotor 8B.AB steering wheel 8B1.AB driving rotor
8C.AC steering wheel 8C1.AC driving rotor 8D.AD steering wheel 8D1.AD driving rotor
8E.AE steering wheel 8E1.AE driving rotor 8F.AF steering wheel 8F1.AF driving rotor
8G.AG steering wheel 8G1.AG driving rotor 8H.AH steering wheel 8H1.AH driving rotor
8J.AJ steering wheel 8J1.AJ driving rotor
9A.BA steering wheel 9A1.BA driving rotor 9B.BB steering wheel 9B1.BB driving rotor
9C.BC steering wheel 9C1.BC driving rotor 9D.BD steering wheel 9D1.BD driving rotor
9E.BE steering wheel 9E1.BE driving rotor 9F.BF steering wheel 9F1.BF driving rotor
9G.BG steering wheel 9G1.BG driving rotor 9H.BH steering wheel 9H1.BH driving rotor
9J.BJ steering wheel 9J1.BJ driving rotor
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail.
Shown in Fig. 1, Figure 1A, Figure 1B, a kind of Six-foot walking robot with obstacle climbing ability of the present invention, this Six-foot walking robot includes left front leg 1, RAT 2, left leg 3, right leg 4, left back leg 5, right rear leg 6 and trunk body 7; Described trunk body 7 is made up of front end body 7A and rear end body 7B.Wherein, left front leg 1, RAT 2, left leg 3, right leg 4, left back leg 5 are identical with the structure of right rear leg 6; Left front leg 1 and RAT 2, left leg 3 are symmetrically arranged with the X-axis line of trunk body 7 with right leg 4, left back leg 5 and right rear leg 6.
Left front leg 1
Shown in Fig. 1, Figure 1A, Figure 1B, Fig. 4, Fig. 4 A, Fig. 4 B, left front leg 1 includes AD steering wheel support 1A, AG steering wheel support 1B, AA transmission plate 1C, AB transmission plate 1D, AA connecting panel 1E, AB connecting panel 1F, AA swivel bearing 1G, AA linear bearing 1P, AA pressure sensor 1M, AA spring 1I, AB spring 1H, AA slide bar 1J, AA rubber feet pad 1K, AA pad 1L, AA external 1N and AA sleeve 1Q.Wherein, AA external 1N, AA sleeve 1Q, AA slide bar 1J, AA rubber feet pad 1K, AA linear bearing 1P, AA pressure sensor 1M, AA spring 1I, AB spring 1H and AA pad 1L belongs to calf joint.
One end of AA slide bar 1J is arranged in AA rubber feet pad 1K, and the other end of AA slide bar 1J contacts with AA pressure sensor 1M; AA slide bar 1J is socketed with AA spring 1I, AA linear bearing 1P and AA sleeve 1Q, and the end thereof contacts of the end of AA linear bearing 1P and AA spring 1I, the other end of AA spring 1I is stopped by the dome ring 1J1 on AA slide bar 1J;
The upper end of AA sleeve 1Q is inserted in one end of AA linear bearing 1P; The bottom of AA sleeve 1Q and AD steering wheel support 1A is fixed;
The external 1N of AA is fixed in the lateral plates of AD steering wheel support 1A, is placed with AB spring 1H, AA pad 1L and AA pressure sensor 1M in the external 1N of AA; AA pad 1L is provided with between AB spring 1H and AA pressure sensor 1M.
In the present invention; the AA rubber feet pad 1K of foot mechanism is when being subject to the bearing force on ground; AA spring 1I shrinks; AA slide bar 1J is along AA linear bearing 1P upward movement; drive AA pressure sensor 1M also upward movement, AB spring 1H is compressed then, while obtaining the real-time pressure information in AA rubber feet pad 1K end; effectively protect AA pressure sensor 1M, avoid the wearing and tearing brought with earth surface.
AD steering wheel support 1A is for installing AD steering wheel 8D;
Bottom and the AA sleeve 1Q of AD steering wheel support 1A fix.
AG steering wheel support 1B is for installing AG steering wheel 8G; Top and the AA transmission plate 1C of AG steering wheel support 1B fix, and bottom and the AB transmission plate 1D of AG steering wheel support 1B fix.
One end of AA transmission plate 1C is connected to AA swivel bearing 1G(AA swivel bearing 1G and is arranged on the AA driving rotor 8A1 of AA steering wheel 8A) on, the other end of AA transmission plate 1C is fixed on the top of AG steering wheel support 1B.
One end of AB transmission plate 1D is connected to the AA driven rotor of AA steering wheel 8A, and (AA driven rotor and AA driving rotor 8A1 are oppositely arranged on the both sides of AA steering wheel 8A, the accompanying drawing number of AA driven rotor is not shown in the drawings) on, the other end of AB transmission plate 1D is fixed on the bottom of AG steering wheel support 1B.
One end of AA connecting panel 1E is connected with the AG driven rotor of AG steering wheel 8G, and the other end of AA connecting panel 1E is connected with the AD driven rotor of AD steering wheel 8D.
One end of AB connecting panel 1F is connected with the AG driving rotor 8G1 of AG steering wheel 8G, and the other end of AA connecting panel 1E is connected with the AD driving rotor 8D1 of AD steering wheel 8D.
In the present invention, the foot end rubber pad 1K in left front leg 1 is fixed by locating dowel pin, prevents relatively rotating of rubber pad 1K and slide bar 1J; AA spring 1I, between AA linear bearing 1P and slide bar 1J, has buffer action; With fixing bottom the AA linear bearing 1P lower end of flange and AD steering wheel support 1A, AA sleeve 1Q is connected firmly by the bottom of bolt and AA steering wheel support 1A, and AA slide bar 1J can only be moved along AA linear bearing 1P; AB spring 1H is positioned at AA outer cover 1N, and the lower end of AB spring 1H is connected with pressure sensor 1M by pad 1L.
RAT 2
Shown in Fig. 1, Figure 1A, Figure 1B, Fig. 5, Fig. 5 A, RAT 2 includes BD steering wheel support 2A, BG steering wheel support 2B, BA transmission plate 2C, BB transmission plate 2D, BA connecting panel 2E, BB connecting panel 2F, BA swivel bearing 2G, BA linear bearing 2P, BA pressure sensor 2M, BA spring 2I, BB spring 2H, BA slide bar 2J, BA rubber feet pad 2K, BA pad 2L, BA external 2N and BA sleeve 2Q.Wherein, BA external 2N, BA sleeve 2Q, BA slide bar 2J, BA rubber feet pad 2K, BA linear bearing 2P, BA pressure sensor 2M, BA spring 2I, BB spring 2H and BA pad 2L belongs to calf joint.
One end of BA slide bar 2J is arranged in BA rubber feet pad 2K, and the other end of BA slide bar 2J contacts with BA pressure sensor 2M; BA slide bar 2J is socketed with BA spring 2I, BA linear bearing 2P and BA sleeve 2Q, and the end thereof contacts of the end of BA linear bearing 2P and BA spring 2I, the other end of BA spring 2I is stopped by the dome ring 2J1 on BA slide bar 2J;
The upper end of BA sleeve 2Q is inserted in one end of BA linear bearing 2P; The bottom of BA sleeve 2Q and AD steering wheel support 2A is fixed;
The external 2N of BA is fixed in the lateral plates of BD steering wheel support 2A, is placed with BB spring 2H, BA pad 2L and BA pressure sensor 2M in the external 2N of BA; BA pad 2L is provided with between BB spring 2H and BA pressure sensor 2M.
In the present invention; the BA rubber feet pad 2K of foot mechanism is when being subject to the bearing force on ground; BA spring 2I shrinks; BA slide bar 2J is along BA linear bearing 2P upward movement; drive BA pressure sensor 2M also upward movement, BB spring 2H is compressed then, while obtaining the real-time pressure information in BA rubber feet pad 2K end; effectively protect BA pressure sensor 2M, avoid the wearing and tearing brought with earth surface.
BD steering wheel support 2A is for installing BD steering wheel 9D;
Bottom and the BA sleeve 2Q of BD steering wheel support 2A fix.
BG steering wheel support 2B is for installing BG steering wheel 9G; Top and the BA transmission plate 2C of BG steering wheel support 2B fix, and bottom and the BB transmission plate 2D of BG steering wheel support 2B fix.
One end of BA transmission plate 2C is connected to BA swivel bearing 2G(BA swivel bearing 2G and is arranged on the AA driving rotor 9A1 of BA steering wheel 9A) on, the other end of BA transmission plate 2C is fixed on the top of BG steering wheel support 2B.
One end of BB transmission plate 2D is connected to the BA driven rotor of BA steering wheel 9A, and (BA driven rotor and BA driving rotor 9A2 are oppositely arranged on the both sides of BA steering wheel 9A, the accompanying drawing number of BA driven rotor is not shown in the drawings) on, the other end of BB transmission plate 2D is fixed on the bottom of BG steering wheel support 2B.
One end of BA connecting panel 2E is connected with the AG driven rotor of BG steering wheel 9G, and the other end of BA connecting panel 2E is connected with the BD driven rotor of BD steering wheel 9D.
One end of BB connecting panel 2F is connected with the BG driving rotor 9G1 of BG steering wheel 9G, and the other end of BA connecting panel 2E is connected with the BD driving rotor 9D1 of BD steering wheel 9D.
Left leg 3
Shown in Fig. 1, Figure 1A, Figure 1B, Fig. 4 C, left leg 3 includes AE steering wheel support 3A, AH steering wheel support 3B, AC transmission plate 3C, AD transmission plate 3D, AC connecting panel 3E, AD connecting panel 3F, AB swivel bearing 3G, AB linear bearing 3P, AB pressure sensor 3M, AC spring 3I, AD spring 3H, AB slide bar 3J, AB rubber feet pad 3K, AB pad 3L, AB external 3N and AB sleeve 3Q.Wherein, AB external 3N, AB sleeve 3Q, AB slide bar 3J, AB rubber feet pad 3K, AB linear bearing 3P, AB pressure sensor 3M, AC spring 3I, AD spring 3H and AB pad 3L belongs to calf joint.
One end of AB slide bar 3J is arranged in AB rubber feet pad 3K, and the other end of AB slide bar 3J contacts with AB pressure sensor 3M; AB slide bar 3J is socketed with AC spring 3I, AB linear bearing 3P and AB sleeve 3Q, and the end thereof contacts of the end of AB linear bearing 3P and AC spring 3I, the other end of AC spring 3I is stopped by the dome ring 3J1 on AB slide bar 3J;
The upper end of AB sleeve 3Q is inserted in one end of AB linear bearing 3P; The bottom of AB sleeve 3Q and AE steering wheel support 3A is fixed;
The external 3N of AB is fixed in the lateral plates of AE steering wheel support 3A, is placed with AD spring 3H, AB pad 3L and AB pressure sensor 3M in the external 3N of AB; AB pad 3L is provided with between AD spring 3H and AB pressure sensor 3M.
In the present invention; the AB rubber feet pad 3K of foot mechanism is when being subject to the bearing force on ground; AC spring 3I shrinks; AB slide bar 3J is along AB linear bearing 3P upward movement; drive AB pressure sensor 3M also upward movement, AD spring 3H is compressed then, while obtaining the real-time pressure information in AB rubber feet pad 3K end; effectively protect AB pressure sensor 3M, avoid the wearing and tearing brought with earth surface.
AE steering wheel support 3A is for installing AE steering wheel 8E;
Bottom and the AB sleeve 3Q of AE steering wheel support 3A fix.
AH steering wheel support 3B is for installing AH steering wheel 8H; Top and the AC transmission plate 3C of AH steering wheel support 3B fix, and bottom and the AD transmission plate 3D of AH steering wheel support 3B fix.
One end of AC transmission plate 3C is connected to AB swivel bearing 3G(AB swivel bearing 3G and is arranged on the AB driving rotor 8B1 of AB steering wheel 8B) on, the other end of AC transmission plate 3C is fixed on the top of AH steering wheel support 3B.
One end of AD transmission plate 3D is connected to the AB driven rotor of AB steering wheel 8B, and (AB driven rotor and AB driving rotor 8B1 are oppositely arranged on the both sides of AB steering wheel 8B, the accompanying drawing number of AB driven rotor is not shown in the drawings) on, the other end of AD transmission plate 3D is fixed on the bottom of AH steering wheel support 3B.
One end of AB connecting panel 3E is connected with the AH driven rotor of AH steering wheel 8H, and the other end of AC connecting panel 3E is connected with the AE driven rotor of AE steering wheel 8E.
One end of AB connecting panel 3F is connected with the AH driving rotor 8H1 of AH steering wheel 8H, and the other end of AC connecting panel 3E is connected with the AE driving rotor 8E1 of AE steering wheel 8E.
Right leg 4
Shown in Fig. 1, Figure 1A, Figure 1B, Fig. 5 B, right leg 4 includes BE steering wheel support 4A, BH steering wheel support 4B, BC transmission plate 4C, BD transmission plate 4D, BC connecting panel 4E, BD connecting panel 4F, BB swivel bearing 4G, BB linear bearing 4P, BB pressure sensor 4M, BC spring 4I, BD spring 4H, BB slide bar 4J, BB rubber feet pad 4K, BB pad 4L, BB external 4N and BB sleeve 4Q.Wherein, BB external 4N, BB sleeve 4Q, BB slide bar 4J, BB rubber feet pad 4K, BB linear bearing 4P, BB pressure sensor 4M, BC spring 4I, BD spring 4H and BB pad 4L belongs to calf joint.
One end of BB slide bar 4J is arranged in BB rubber feet pad 4K, and the other end of BB slide bar 4J contacts with BB pressure sensor 4M; BB slide bar 4J is socketed with BC spring 4I, BB linear bearing 4P and BB sleeve 4Q, and the end thereof contacts of the end of BB linear bearing 4P and BC spring 4I, the other end of BC spring 4I is stopped by the dome ring 4J1 on BB slide bar 4J;
The upper end of BB sleeve 4Q is inserted in one end of BB linear bearing 4P; The bottom of BB sleeve 4Q and BE steering wheel support 4A is fixed;
The external 4N of BB is fixed in the lateral plates of BE steering wheel support 4A, is placed with BD spring 4H, BB pad 4L and BB pressure sensor 4M in the external 4N of BB; BB pad 4L is provided with between BD spring 4H and BB pressure sensor 4M.
In the present invention; the BB rubber feet pad 4K of foot mechanism is when being subject to the bearing force on ground; BC spring 4I shrinks; BB slide bar 4J is along BB linear bearing 4P upward movement; drive BB pressure sensor 4M also upward movement, BD spring 4H is compressed then, while obtaining the real-time pressure information in BB rubber feet pad 4K end; effectively protect BB pressure sensor 4M, avoid the wearing and tearing brought with earth surface.
BE steering wheel support 4A is for installing BD steering wheel 9D;
Bottom and the BB sleeve 4Q of BD steering wheel support 4A fix.
BH steering wheel support 4B is for installing BG steering wheel 9G; Top and the BC transmission plate 4C of BG steering wheel support 4B fix, and bottom and the BB transmission plate 4D of BG steering wheel support 4B fix.
One end of BC transmission plate 4C is connected to BB swivel bearing 4G(BB swivel bearing 4G and is arranged on the BB driving rotor 9B1 of BB steering wheel 9B) on, the other end of BC transmission plate 4C is fixed on the top of BG steering wheel support 4B.
One end of BD transmission plate 4D is connected to the BB driven rotor of BB steering wheel 9B, and (BB driven rotor and BB driving rotor 9B1 are oppositely arranged on the both sides of BB steering wheel 9B, the accompanying drawing number of BB driven rotor is not shown in the drawings) on, the other end of BD transmission plate 4D is fixed on the bottom of BH steering wheel support 4B.
One end of BC connecting panel 4E is connected with the AH driven rotor of BH steering wheel 9H, and the other end of BC connecting panel 4E is connected with the BE driven rotor of BE steering wheel 9E.
One end of BD connecting panel 4F is connected with the BH driving rotor 9H1 of BH steering wheel 9H, and the other end of BC connecting panel 4E is connected with the BE driving rotor 9E1 of BE steering wheel 9E.
Left back leg 5
Shown in Fig. 1, Figure 1A, Figure 1B, Fig. 4 D, left back leg 5 includes AF steering wheel support 5A, AJ steering wheel support 5B, AE transmission plate 5C, AF transmission plate 5D, AE connecting panel 5E, AF connecting panel 5F, AC swivel bearing 5G, AC linear bearing 5P, AC pressure sensor 5M, AE spring 5I, AF spring 5H, AC slide bar 5J, AC rubber feet pad 5K, AC pad 5L, AC external 5N and AC sleeve 5Q.Wherein, AC external 5N, AC sleeve 5Q, AC slide bar 5J, AC rubber feet pad 5K, AC linear bearing 5P, AC pressure sensor 5M, AE spring 5I, AF spring 5H and AC pad 5L belongs to calf joint.
One end of AC slide bar 5J is arranged in AC rubber feet pad 5K, and the other end of AC slide bar 5J contacts with AC pressure sensor 5M; AC slide bar 5J is socketed with AE spring 5I, AC linear bearing 5P and AC sleeve 5Q, and the end thereof contacts of the end of AC linear bearing 5P and AC spring 5I, the other end of AE spring 5I is stopped by the dome ring 5J1 on AC slide bar 5J;
The upper end of AC sleeve 5Q is inserted in one end of AC linear bearing 5P; The bottom of AC sleeve 5Q and AF steering wheel support 5A is fixed;
The external 5N of AC is fixed in the lateral plates of AF steering wheel support 5A, is placed with AF spring 5H, AC pad 5L and AC pressure sensor 5M in the external 5N of AC; AC pad 5L is provided with between AF spring 5H and AC pressure sensor 5M.
In the present invention; the AC rubber feet pad 5K of foot mechanism is when being subject to the bearing force on ground; AE spring 5I shrinks; AC slide bar 5J is along AC linear bearing 5P upward movement; drive AC pressure sensor 5M also upward movement, AF spring 5H is compressed then, while obtaining the real-time pressure information in AC rubber feet pad 5K end; effectively protect AC pressure sensor 5M, avoid the wearing and tearing brought with earth surface.
AF steering wheel support 5A is for installing AF steering wheel 8F;
Bottom and the AC sleeve 5Q of AF steering wheel support 5A fix.
AJ steering wheel support 5B is for installing AJ steering wheel 8J; The top of AJ steering wheel support 5B and AE pass plate 5C and fix, and bottom and the AF transmission plate 5D of AJ steering wheel support 5B fix.
One end of AE transmission plate 5C is connected to AC swivel bearing 5G(AC swivel bearing 5G and is arranged on the AC driving rotor 8C1 of AC steering wheel 8C) on, the other end of AE transmission plate 5C is fixed on the top of AJ steering wheel support 5B.
One end of AF transmission plate 5D is connected to the AF driven rotor of AF steering wheel 8F, and (AF driven rotor and AF driving rotor 8F1 are oppositely arranged on the both sides of AF steering wheel 8F, the accompanying drawing number of AF driven rotor is not shown in the drawings) on, the other end of AF transmission plate 5D is fixed on the bottom of AJ steering wheel support 5B.
One end of AE connecting panel 5E is connected with the AJ driven rotor of AJ steering wheel 8G, and the other end of AE connecting panel 5E is connected with the AF driven rotor of AF steering wheel 8F.
One end of AF connecting panel 5F is connected with the AJ driving rotor 8J1 of AJ steering wheel 8J, and the other end of AE connecting panel 5E is connected with the AF driving rotor 8F1 of AF steering wheel 8F.
Right rear leg 6
Shown in Fig. 1, Figure 1A, Figure 1B, Fig. 5 C, right rear leg 6 includes BF steering wheel support 6A, BJ steering wheel support 6B, BE transmission plate 6C, BF transmission plate 6D, BE connecting panel 6E, BF connecting panel 6F, BA swivel bearing 6G, BA linear bearing 6P, BA pressure sensor 6M, BE spring 6I, BF spring 6H, BA slide bar 6J, BA rubber feet pad 6K, BA pad 6L, BA external 6N and BA sleeve 6Q.Wherein, BA external 6N, BA sleeve 6Q, BA slide bar 6J, BA rubber feet pad 6K, BA linear bearing 6P, BA pressure sensor 6M, BE spring 6I, BF spring 6H and BA pad 6L belongs to calf joint.
One end of BA slide bar 6J is arranged in BA rubber feet pad 6K, and the other end of BA slide bar 6J contacts with BA pressure sensor 6M; BA slide bar 6J is socketed with BE spring 6I, BA linear bearing 6P and BA sleeve 6Q, and the end thereof contacts of the end of BA linear bearing 6P and BE spring 6I, the other end of BE spring 6I is stopped by the dome ring 6J1 on BA slide bar 6J;
The upper end of BA sleeve 6Q is inserted in one end of BA linear bearing 6P; The bottom of BA sleeve 6Q and BF steering wheel support 6A is fixed;
The external 6N of BA is fixed in the lateral plates of BF steering wheel support 6A, is placed with BF spring 6H, BA pad 6L and BA pressure sensor 6M in the external 6N of BA; BA pad 6L is provided with between BF spring 6H and BA pressure sensor 6M.
In the present invention; the BA rubber feet pad 6K of foot mechanism is when being subject to the bearing force on ground; BE spring 6I shrinks; BA slide bar 6J is along BA linear bearing 6P upward movement; drive BA pressure sensor 6M also upward movement, BF spring 6H is compressed then, while obtaining the real-time pressure information in BA rubber feet pad 6K end; effectively protect BA pressure sensor 6M, avoid the wearing and tearing brought with earth surface.
BF steering wheel support 6A is for installing BF steering wheel 9F;
Bottom and the BA sleeve 6Q of BF steering wheel support 6A fix.
BJ steering wheel support 6B is for installing BJ steering wheel 9J; Top and the BE transmission plate 6C of BJ steering wheel support 6B fix, and bottom and the BF transmission plate 6D of BJ steering wheel support 6B fix.
One end of BE transmission plate 6C is connected to BA swivel bearing 6G(BA swivel bearing 6G and is arranged on the BC driving rotor 9C1 of BC steering wheel 9C) on, the other end of BE transmission plate 6C is fixed on the top of BJ steering wheel support 6B.
One end of BF transmission plate 6D is connected to the BC driven rotor of BC steering wheel 9C, and (BC driven rotor and BC driving rotor 9C1 are oppositely arranged on the both sides of BC steering wheel 9C, the accompanying drawing number of BC driven rotor is not shown in the drawings) on, the other end of BF transmission plate 6D is fixed on the bottom of BF steering wheel support 6B.
One end of BE connecting panel 6E is connected with the BJ driven rotor of BJ steering wheel 9J, and the other end of BE connecting panel 6E is connected with the BD driven rotor of BD steering wheel 9D.
One end of BF connecting panel 6F is connected with the BJ driving rotor 9J1 of BJ steering wheel 9J, and the other end of BE connecting panel 6E is connected with the BF driving rotor 9F1 of BF steering wheel 9F.
In the present invention, six leg mechanisms are designed to a kind of thigh, the calf joint that are applicable to apply with the walking robot of trunk with two-stage buffering.Existing passive compliance is padded by two-stage spring shock absorption and rubber feet in calf joint, meanwhile pressure sensor is integrated in two-stage spring buffer and realizes active compliance, can actv. collection foot terminal pressure information, avoid external environmental interference simultaneously, reduce and consume and wearing and tearing.Linear bearing additionally by flanged dish positions, and realizes the straight-line displacement of slide bar.Simply compact, the easy realization of the foot structure that the present invention proposes controls, improve the impact resistance of robot leg structure, the concussion decreased in robot kinematics is impacted, energy can be put aside for taking a step next time simultaneously, effectively improve energy efficiency, increase landform adaptive capacity, reduce internal force between leg, and prevent from causing disturbance of overall importance, there is high road surface adaptive capacity and high buffering energy storage capability.
In the present invention, steering wheel chooses the RX28 steering wheel of Dynamixel series, and pressure sensor chooses HoneywellFSG-15N1A type pressure sensor.
In the present invention, the driving gear selected in six leg assemblies and ring gear are spur bevel gear, modulus 1.5, the number of teeth 20, reference diameter 30mm, and transmitting ratio is 1:1.
Front end body 7A
Shown in Fig. 1, Figure 1A, Figure 1B, Fig. 2, Fig. 2 A, front end body 7A includes A stay bearing plate 7A01, A cover plate 7A02, A left riser 7A03, A right riser 7A04, front U-board 7A05, rear U-board 7A06, AA steering wheel frame 7A07 and BA steering wheel frame 7A08;
The left end of A stay bearing plate 7A01 is that AA installs plate 7A011, and the right-hand member of A stay bearing plate 7A01 is that BA installs plate 7A012, is intermediate mass 7A013 between AA adapter plate 7A011 and BA adapter plate 7A012; Described AA installs on plate 7A011 for fixing AA steering wheel 8A; Described BA installs on plate 7A012 for fixing BA steering wheel 9A; Described intermediate mass 7A013 is fixed with the right riser 7A04 of A left riser 7A03, A, and is spaced in intervals between the right riser 7A04 of A left riser 7A03 and A.
AA steering wheel frame 7A07 is provided with transverse slat 7A071 and riser 7A072; Transverse slat 7A071 is used for fixing AA steering wheel 8A; Riser 7A072 is fixed on the left riser 7A03 of A; The assembling of the left riser 7A03 of AA steering wheel frame 7A07 and A, the transverse slat 7A071 of AA steering wheel frame 7A07 and the AA of A stay bearing plate 7A01 is installed between plate 7A011 and is spaced in intervals, this spacing is just in time for fixed placement AA steering wheel 8A.
BA steering wheel frame 7A08 is provided with transverse slat 7A081 and riser 7A082; Transverse slat 7A081 is used for fixing BA steering wheel 9A; Riser 7A082 is fixed on the right riser 7A04 of A; The assembling of the right riser 7A04 of BA steering wheel frame 7A08 and A, the transverse slat 7A081 of BA steering wheel frame 7A08 and the BA of A stay bearing plate 7A01 is installed between plate 7A012 and is spaced in intervals, this spacing is just in time for fixed placement BA steering wheel 9A.
One end of front U-board 7A05 is the other end of upper fitting 7A051, front U-board 7A05 is lower fitting 7A052, is middle fitting 7A053 between upper fitting 7A051 and lower fitting 7A052.Upper fitting 7A051 is connected with A cover plate 7A02.Lower fitting 7A052 is connected with the intermediate die plate 7A013 of A stay bearing plate 7A01.Middle fitting 7A053 is connected with the middle fitting 7A063 of rear U-board 7A06.
One end of rear U-board 7A06 is the other end of left fitting 7A061, rear U-board 7A06 is right fitting 7A062, is middle fitting 7A063 between left fitting 7A061 and right fitting 7A062.Left fitting 7A061 is connected with the roller bearing end cap 7B907 in the obstacle detouring transmission component 7B09 of rear end body 7B.Right fitting 7A062 is connected with the flange of the passive tooth wheel shaft 7B909 in the obstacle detouring transmission component 7B09 of rear end body 7B.Middle fitting 7A063 is connected with the middle fitting 7A053 of front U-board 7A05.
Front end body 7A is assembled into: A left riser 7A03 and A right riser 7A04 keeping parallelism and one end is fixed on A stay bearing plate 7A01, and the other end is fixed on A cover plate 7A02; AA steering wheel frame 7A07 is fixed on the outer panel face of the left riser 7A03 of A; BA steering wheel frame 7A08 is fixed on the outer panel face of the right riser 7A04 of A; One end of front U-board 7A05 is fixed on A cover plate 7A02, and the other end is fixed on A stay bearing plate 7A01; The middle part of front U-board 7A05 and the middle part of rear U-board 7A06 are fixed.
Rear end body 7B
Shown in Fig. 1, Figure 1A, Fig. 3, Fig. 3 A, Fig. 3 B, Fig. 3 C, rear end body 7B includes B stay bearing plate 7B01, B cover plate 7B02, B left riser 7B03, B right riser 7B04, C left riser 7B13, C right riser 7B14, front L shaped plate 7B05, back L-shaped slab 7B06, AB steering wheel frame 7B07, AC steering wheel frame 7B17, BB steering wheel frame 7B08, BC steering wheel frame 7B18 and obstacle detouring transmission component 7B09;
B stay bearing plate 7B01 is provided with AB and installs plate 7B011, AC installation plate 7B014, BB installation plate 7B012 unit, BC installation plate 7B015, flange block 7B017, it is that A lightening hole 7B013, AC install plate 7B014 and BC to install between plate 7B015 be B lightening hole 7B016 that AB installs that plate 7B011 and BB installs between plate 7B012; Described AB installs on plate 7B011 for fixing AB steering wheel 8B; Described BB installs on plate 7B012 for fixing BB steering wheel 9B; The both sides of described A lightening hole 7B013 are used for the fixing right riser 7B04 of B left riser 7B03, B, and are spaced in intervals between the right riser 7B04 of B left riser 7B03 and B; The both sides of described B lightening hole 7B016 are used for the right riser 7B14 of fixation of C left riser 7B13, C, and are spaced in intervals between the right riser 7B14 of C left riser 7B13 and C; Described flange block 7B17 is fixed with obstacle detouring transmission component 7B09, front L shaped plate 7B05 and back L-shaped slab 7B06.
AB steering wheel frame 7B07 is provided with transverse slat 7B071 and riser 7B072; Transverse slat 7B071 is used for fixing AB steering wheel 8B; Riser 7B072 is fixed on the left riser 7B03 of B; The assembling of the left riser 7B03 of AB steering wheel frame 7B07 and B, the transverse slat 7B071 of AB steering wheel frame 7B07 and the AB of B stay bearing plate 7B01 is installed between plate 7B011 and is spaced in intervals, this spacing is just in time for fixed placement AB steering wheel 8B.
AC steering wheel frame 7B17 is provided with transverse slat 7B171 and riser 7B172; Transverse slat 7B171 is used for fixing AC steering wheel 8C; Riser 7B172 is fixed on the left riser 7B13 of C; The assembling of the left riser 7B13 of AC steering wheel frame 7B17 and C, the transverse slat 7B171 of AC steering wheel frame 7B17 and the AC of B stay bearing plate 7B01 is installed between plate 7B014 and is spaced in intervals, this spacing is just in time for fixed placement AC steering wheel 8C.
BB steering wheel frame 7B08 is provided with transverse slat 7B081 and riser 7B082; Transverse slat 7B081 is used for fixing BB steering wheel 9B; Riser 7B082 is fixed on the right riser 7B04 of B; The assembling of the right riser 7B04 of BB steering wheel frame 7B08 and B, the transverse slat 7B081 of BB steering wheel frame 7B08 and the BB of B stay bearing plate 7B01 is installed between plate 7B012 and is spaced in intervals, this spacing is just in time for fixed placement BB steering wheel 9B.
BC steering wheel frame 7B18 is provided with transverse slat 7B181 and riser 7B182; Transverse slat 7B181 is used for fixing BC steering wheel 9C; Riser 7B182 is fixed on the right riser 7B14 of C; The assembling of the right riser 7B14 of BC steering wheel frame 7B18 and C, the transverse slat 7B181 of BC steering wheel frame 7B18 and the BC of B stay bearing plate 7B01 is installed between plate 7B015 and is spaced in intervals, this spacing is just in time for fixed placement BC steering wheel 9C.
Front L shaped plate 7B05 and back L-shaped slab 7B06 is staggered relatively and be fixed on flange block 7B17, fixedly mounts trunk steering wheel 7C between front L shaped plate 7B05 and back L-shaped slab 7B06.
Obstacle detouring transmission component 7B09 includes driving gear 7B906, driving gear shaft 7B905, ring gear 7B908, passive tooth wheel shaft 7B909, left bearing 7B903, right bearing 7B904, bearing left locating plate 7B901 and the right locating plate 7B902 of bearing; Bearing left locating plate 7B901 and bearing right locating plate 7B902 keeping parallelism and be fixedly mounted on the flange block 7B017 of B stay bearing plate 7B01; Driving gear 7B906 is arranged on driving gear shaft 7B905 by flat key 7B915, and the end of driving gear 7B906 is clamped by back-up ring 7B914; Ring gear 7B908 is arranged on passive tooth wheel shaft 7B909 by flat key 7B913, and one end of ring gear 7B908 withstands on the inner ring of left bearing 7B903, the other end of ring gear 7B908 is fixed by the shaft shoulder 7B9092 on passive tooth wheel shaft 7B909, by metal washer 7B912, rubber cradle 7B911 compensated position gap; Left bearing 7B903 is arranged in the bearing bore 7B9011 of the left locating plate 7B901 of bearing, and the outer ring of left bearing 7B903 is fixed by described bearing bore 7B9011, and the inner ring of left bearing 7B903 is fixed by ring gear 7B908; Right bearing 7B904 is arranged in the bearing bore 7B9021 of the right locating plate 7B902 of bearing, and the outer ring of right bearing 7B904 is fixed by described bearing bore 7B9021, the inner ring of right bearing 7B904 is fixed by the back-up ring 7B910 on the groove 7B9091 that is stuck in passive tooth wheel shaft 7B909 and is provided with.Described passive tooth wheel shaft 7B909 is with flange.
In the present invention, one end of the passive tooth wheel shaft 7B909 of obstacle detouring transmission component 7B09 is arranged in the bearing bore of bearing right locating plate 7B902 through right bearing 7B904(right bearing 7B904 in turn), back-up ring 7B910, ring gear 7B908, rubber cradle 7B911, metal washer 7B912, left bearing 7B903(left bearing 7B903 be arranged in the bearing bore of the left locating plate 7B901 of bearing) after be connected on roller bearing end cap 7B907.Flat key 7B913 is separately fixed in the keyway 7B9092 of passive tooth wheel shaft 7B909 and the keyway 7B9071 of roller bearing end cap 7B907, effectively ensure that being synchronized with the movement of roller bearing end cap 7B907 and passive tooth wheel shaft 7B909.
In the present invention, the driving rotor of trunk steering wheel 7C is connected on driving gear shaft 7B905, and driving gear shaft 7B905 one end is through driving gear 7B906 and back-up ring 7B914.
In the present invention, obstacle detouring transmission component 7B09 drives driving gear 7B906 to move by the output of trunk steering wheel 7C, under the moving condition of driving gear 7B906, drive ring gear 7B908 motion, the Movement transmit of ring gear 7B908 is to passive tooth wheel shaft 7B909; The motion of passive tooth wheel shaft 7B909 makes front end body 7A to realize luffing.
19 degree of freedom
Shown in Fig. 1, Figure 1A, Figure 1B, a kind of Six-foot walking robot with obstacle climbing ability of the present invention's design, this robot includes hip joint, large leg joint and calf joint.
In the present invention, hip joint includes the first left hip joint, the second left hip joint, the 3rd left hip joint, the first right hip joint, the second right hip joint, the 3rd right hip joint; First left hip joint comprises AA steering wheel 8A, AA swivel bearing 1G, AA transmission plate 1C, AB transmission plate 1D; Second left hip joint comprises AB steering wheel 8B, AB swivel bearing 3G, AC transmission plate 3C, AD transmission plate 3D; 3rd left hip joint comprises AC steering wheel 8C, AC swivel bearing 5G, AE transmission plate 5C, AF transmission plate 5D; First right hip joint comprises BA steering wheel 9A, BA swivel bearing 2G, BA transmission plate 2C, BB transmission plate 2D; Second right hip joint comprises BB steering wheel 9B, BB swivel bearing 4G, BC transmission plate 4C, BD transmission plate 4D; 3rd right hip joint comprises BC steering wheel 9C, BC swivel bearing 6G, BE transmission plate 6C, BF transmission plate 6D.
In the present invention, large leg joint includes the first left thigh joint, the second left thigh joint, the 3rd left thigh joint, the first right thigh joint, the second right thigh joint, the 3rd right thigh joint; First left thigh joint comprises AG steering wheel 8G, AA connecting panel 1E, AB connecting panel 1F, AG steering wheel support 1B; Second left thigh joint comprises AH steering wheel 8H, AC connecting panel 3E, AD connecting panel 3F, AH steering wheel support 3B; 3rd left thigh joint comprises AJ steering wheel 8J, AE connecting panel 5E, AF connecting panel 5F, AJ steering wheel support 5B; First right thigh joint comprises BG steering wheel 9G, BA connecting panel 2E, BB connecting panel 2F, BG steering wheel support 2B; Second right thigh joint comprises BH steering wheel 9H, BC connecting panel 4E, BD connecting panel 4F, BH steering wheel support 4B; 3rd right thigh joint comprises BJ steering wheel 9J, BE connecting panel 6E, BF connecting panel 6F, BJ steering wheel support 6B.
In the present invention, calf joint includes the first left leg joint, the second left leg joint, the 3rd left leg joint, the first right leg joint, the second right leg joint, the 3rd right leg joint; First left leg joint comprises AD steering wheel 8D, AD steering wheel support 1A, AA external 1N, AA sleeve 1Q, AA slide bar 1J, AA rubber feet pad 1K, AA linear bearing 1P, AA pressure sensor 1M, AA spring 1I, AB spring 1H and AA pad 1L; Second left leg joint comprises AE steering wheel 8E, AE steering wheel support 3A, AB external 3N, AB sleeve 3Q, AB slide bar 3J, AB rubber feet pad 3K, AB linear bearing 3P, AB pressure sensor 3M, AC spring 3I, AD spring 3H and AB pad 3L; 3rd left leg joint comprises AF steering wheel 8F, AF steering wheel support 5A, AC external 5N, AC sleeve 5Q, AC slide bar 5J, AC rubber feet pad 5K, AC linear bearing 5P, AC pressure sensor 5M, AE spring 5I, AF spring 5H and AC pad 5L; First right leg joint comprises BD steering wheel 9D, BD steering wheel support 2A, BA external 2N, BA sleeve 2Q, BA slide bar 2J, BA rubber feet pad 2K, BA linear bearing 2P, BA pressure sensor 2M, BA spring 2I, BB spring 2H and BA pad 2L; Second right leg joint comprises BE steering wheel 9E, BE steering wheel support 4A, BB external 4N, BB sleeve 4Q, BB slide bar 4J, BB rubber feet pad 4K, BB linear bearing 4P, BB pressure sensor 4M, BC spring 4I, BD spring 4H and BB pad 4L; 3rd right leg joint comprises BF steering wheel 9F, BF steering wheel support 6A, BC external 6N, BC sleeve 6Q, BC slide bar 6J, BC rubber feet pad 6K, BC linear bearing 6P, BC pressure sensor 6M, BE spring 6I, BF spring 6H and BC pad 6L.
In the present invention with the driving rotor of steering wheel for rotary joint carries out the called after of degree of freedom:
(1) first degree of freedom: refer to the rotation that the driving rotor around AA steering wheel 8A carries out, the driving rotor of described AA steering wheel 8A is parallel to Y-axis.
(2) second degree of freedom: refer to the rotation that the driving rotor around AB steering wheel 8B carries out, the driving rotor of described AB steering wheel 8B is parallel to Y-axis.
(3) three degree of freedom: refer to the rotation that the driving rotor around AC steering wheel 8C carries out, the driving rotor of described AC steering wheel 8C is parallel to Y-axis.
(4) four-degree-of-freedoms: refer to the rotation that the driving rotor around AD steering wheel 8D carries out, the driving rotor of described AD steering wheel 8D is parallel to X-axis.
(5) five degree of freedom: refer to the rotation that the driving rotor around AE steering wheel 8E carries out, the driving rotor of described AE steering wheel 8E is parallel to X-axis.
(6) six degree of freedoms: refer to the rotation that the driving rotor around AF steering wheel 8F carries out, the driving rotor of described AF steering wheel 8F is parallel to X-axis.
(7) seven freedoms: refer to the rotation that the driving rotor around AG steering wheel 8G carries out, the driving rotor of described AG steering wheel 8G is parallel to X-axis.
(8) eight degrees of freedom: refer to the rotation that the driving rotor around AH steering wheel 8H carries out, the driving rotor of described AH steering wheel 8H is parallel to X-axis.
(9) nine-degree of freedom: refer to the rotation that the driving rotor around AJ steering wheel 8J carries out, the driving rotor of described AJ steering wheel 8J is parallel to X-axis.
(10) the tenth degree of freedom: refer to the rotation that the driving rotor around BA steering wheel 9A carries out, the driving rotor of described BA steering wheel 9A is parallel to Y-axis.
(11) the tenth single-degree-of-freedoms: refer to the rotation that the driving rotor around BB steering wheel 9B carries out, the driving rotor of described BB steering wheel 9B is parallel to Y-axis.
(12) the tenth two degrees of freedom: refer to the rotation that the driving rotor around BC steering wheel 9C carries out, the driving rotor of described BC steering wheel 9C is parallel to Y-axis.
(13) thirteen-degree-of-freedoms: refer to the rotation that the driving rotor around BD steering wheel 9D carries out, the driving rotor of described BD steering wheel 9D is parallel to X-axis.
(14) the tenth four-degree-of-freedoms: refer to the rotation that the driving rotor around BE steering wheel 9E carries out, the driving rotor of described BE steering wheel 9E is parallel to X-axis.
(15) the tenth five degree of freedom: refer to the rotation that the driving rotor around BF steering wheel 9F carries out, the driving rotor of described BF steering wheel 9F is parallel to X-axis.
(16) the tenth six degree of freedoms: refer to the rotation that the driving rotor around BG steering wheel 9G carries out, the driving rotor of described BG steering wheel 9G is parallel to X-axis.
(17) the tenth seven freedoms: refer to the rotation that the driving rotor around BH steering wheel 9H carries out, the driving rotor of described BH steering wheel 9H is parallel to X-axis.
(18) the tenth eight degrees of freedom: refer to the rotation that the driving rotor around BJ steering wheel 9J carries out, the driving rotor of described BJ steering wheel 9J is parallel to X-axis.
(19) the tenth nine-degree of freedom: refer to the rotation carried out around passive tooth wheel shaft 7B909, the axis being parallel of described passive tooth wheel shaft 7B909 is in Z axis.
A kind of Six-foot walking robot with obstacle climbing ability of the present invention's design, this robot has 19 degree of freedom and 3 joints, solves the defect that the not enough and torso portion of common six biped robot obstacle climbing abilities can not be moved.Robot of the present invention has following advantage:
(1) trunk body provides an extra active degree of freedom for robot of the present invention, and front end body can be driven to rotate along body X-axis, thus provides convenience for the obstacle detouring, climbing etc. of robot.
(2) trunk body adopts bevel drive, ensure that higher driving efficiency, adopts Flat dey joint between gear and rotating shaft, compact conformation, coordinates closely.
(3) robot integral structure of the present invention is very narrow, can obtain the optimal torque transmitted to body center line (X-direction) by supporting leg, ensure that the balance of robot and then add stability.
(4) 13 larger steering wheels of robot quality proportion are accounted for by centralized configuration in trunk surrounding, to reduce the rotor inertia of limbs, the kinematic dexterity increasing robot and integral rigidity.
(5) limbs being positioned at robot trunk homonymy and offside all have the physical construction of complete and homogeneous, obtain good interchangeability, can be realized the omnibearing movable of robot by certain gait.
(6) leg mechanism of robot has certain rigidity, prevents in motion process, and leg bracing force causes robot lack of equilibrium not.Leg mechanism simplified design, avoids unnecessary joint and driving device simultaneously, reduces the complexity controlled.

Claims (3)

1. have a Six-foot walking robot for obstacle climbing ability, this Six-foot walking robot includes left front leg (1), RAT (2), left leg (3), right leg (4), left back leg (5), right rear leg (6) and trunk body (7); It is characterized in that:
Trunk body (7) is made up of front end body (7A) and rear end body 7B; Wherein, left front leg (1), RAT (2), left leg (3), right leg (4), left back leg (5) are identical with the structure of right rear leg (6); Left front leg (1) and RAT (2), left leg (3) are symmetrically arranged with the X-axis line of trunk body (7) with right leg (4), left back leg (5) and right rear leg (6);
Left front leg (1) includes AD steering wheel support (1A), AG steering wheel support (1B), AA transmission plate (1C), AB transmission plate (1D), AA connecting panel (1E), AB connecting panel (1F), AA swivel bearing (1G), AA linear bearing (1P), AA pressure sensor (1M), AA spring (1I), AB spring (1H), AA slide bar (1J), AA rubber feet pad (1K), AA pad (1L), AA external (1N) and AA sleeve (1Q),
One end of AA slide bar (1J) is arranged in AA rubber feet pad (1K), and the other end of AA slide bar (1J) contacts with AA pressure sensor (1M); AA slide bar (1J) is socketed with AA spring (1I), AA linear bearing (1P) and AA sleeve (1Q), and the end thereof contacts of the end of AA linear bearing (1P) and AA spring (1I), the other end of AA spring (1I) is stopped by the dome ring (1J1) on AA slide bar (1J);
The upper end of AA sleeve (1Q) is inserted in one end of AA linear bearing (1P); AA sleeve (1Q) is fixed with the bottom of AD steering wheel support (1A);
AA external (1N) is fixed in the lateral plates of AD steering wheel support (1A), is placed with AB spring (1H), AA pad (1L) and AA pressure sensor (1M) in AA external (1N); AA pad (1L) is provided with between AB spring (1H) and AA pressure sensor (1M);
AD steering wheel support (1A) is for installing AD steering wheel (8D);
The bottom of AD steering wheel support (1A) and AA sleeve (1Q) are fixed;
AG steering wheel support (1B) is for installing AG steering wheel (8G); The top of AG steering wheel support (1B) and AA transmission plate (1C) are fixed, and the bottom of AG steering wheel support (1B) and AB transmission plate (1D) are fixed;
One end of AA transmission plate (1C) is connected on AA swivel bearing (1G), and the other end of AA transmission plate (1C) is fixed on the top of AG steering wheel support (1B);
One end of AB transmission plate (1D) is connected on the AA driven rotor of AA steering wheel (8A), and the other end of AB transmission plate (1D) is fixed on the bottom of AG steering wheel support (1B);
One end of AA connecting panel (1E) is connected with the AG driven rotor of AG steering wheel (8G), and the other end of AA connecting panel (1E) is connected with the AD driven rotor of AD steering wheel (8D);
One end of AB connecting panel (1F) is connected with the AG driving rotor (8G1) of AG steering wheel (8G), and the other end of AA connecting panel (1E) is connected with the AD driving rotor (8D1) of AD steering wheel (8D);
RAT (2) includes BD steering wheel support (2A), BG steering wheel support (2B), BA transmission plate (2C), BB transmission plate (2D), BA connecting panel (2E), BB connecting panel (2F), BA swivel bearing (2G), BA linear bearing (2P), BA pressure sensor (2M), BA spring (2I), BB spring (2H), BA slide bar (2J), BA rubber feet pad (2K), BA pad (2L), BA external (2N) and BA sleeve (2Q),
One end of BA slide bar (2J) is arranged in BA rubber feet pad (2K), and the other end of BA slide bar (2J) contacts with BA pressure sensor (2M); BA slide bar (2J) is socketed with BA spring (2I), BA linear bearing (2P) and BA sleeve (2Q), and the end thereof contacts of the end of BA linear bearing (2P) and BA spring (2I), the other end of BA spring (2I) is stopped by the dome ring (2J1) on BA slide bar (2J);
The upper end of BA sleeve (2Q) is inserted in one end of BA linear bearing (2P); BA sleeve (2Q) is fixed with the bottom of AD steering wheel support (2A);
BA external (2N) is fixed in the lateral plates of BD steering wheel support (2A), is placed with BB spring (2H), BA pad (2L) and BA pressure sensor (2M) in BA external (2N); BA pad (2L) is provided with between BB spring (2H) and BA pressure sensor 2M;
BD steering wheel support (2A) is for installing BD steering wheel (9D);
The bottom of BD steering wheel support (2A) and BA sleeve (2Q) are fixed;
BG steering wheel support (2B) is for installing BG steering wheel (9G); The top of BG steering wheel support (2B) and BA transmission plate (2C) are fixed, and the bottom of BG steering wheel support (2B) and BB transmission plate (2D) are fixed;
One end of BA transmission plate (2C) is connected on BA swivel bearing (2G), and the other end of BA transmission plate (2C) is fixed on the top of BG steering wheel support (2B);
One end of BB transmission plate (2D) is connected on the BA driven rotor of BA steering wheel (9A), and the other end of BB transmission plate (2D) is fixed on the bottom of BG steering wheel support (2B);
One end of BA connecting panel (2E) is connected with the AG driven rotor of BG steering wheel (9G), and the other end of BA connecting panel (2E) is connected with the BD driven rotor of BD steering wheel (9D);
One end of BB connecting panel (2F) is connected with the BG driving rotor (9G1) of BG steering wheel (9G), and the other end of BA connecting panel (2E) is connected with the BD driving rotor (9D1) of BD steering wheel (9D);
Left leg (3) includes AE steering wheel support (3A), AH steering wheel support (3B), AC transmission plate (3C), AD transmission plate (3D), AC connecting panel (3E), AD connecting panel (3F), AB swivel bearing (3G), AB linear bearing (3P), AB pressure sensor (3M), AC spring (3I), AD spring (3H), AB slide bar (3J), AB rubber feet pad (3K), AB pad (3L), AB external (3N) and AB sleeve (3Q),
One end of AB slide bar (3J) is arranged in AB rubber feet pad (3K), and the other end of AB slide bar (3J) contacts with AB pressure sensor (3M); AB slide bar (3J) is socketed with AC spring (3I), AB linear bearing 3P and AB sleeve (3Q), and the end thereof contacts of the end of AB linear bearing (3P) and AC spring (3I), the other end of AC spring (3I) is stopped by the dome ring (3J1) on AB slide bar (3J);
The upper end of AB sleeve (3Q) is inserted in one end of AB linear bearing (3P); AB sleeve (3Q) is fixed with the bottom of AE steering wheel support (3A);
AB external (3N) is fixed in the lateral plates of AE steering wheel support (3A), is placed with AD spring (3H), AB pad (3L) and AB pressure sensor (3M) in AB external (3N); AB pad (3L) is provided with between AD spring (3H) and AB pressure sensor (3M);
AE steering wheel support (3A) is for installing AE steering wheel (8E);
The bottom of AE steering wheel support (3A) and AB sleeve (3Q) are fixed;
AH steering wheel support (3B) is for installing AH steering wheel (8H); The top of AH steering wheel support (3B) and AC transmission plate (3C) are fixed, and the bottom of AH steering wheel support (3B) and AD transmission plate (3D) are fixed;
One end of AC transmission plate (3C) is connected on AB swivel bearing (3G), and the other end of AC transmission plate (3C) is fixed on the top of AH steering wheel support (3B);
One end of AD transmission plate (3D) is connected on the AB driven rotor of AB steering wheel (8B), and the other end of AD transmission plate (3D) is fixed on the bottom of AH steering wheel support (3B);
One end of AB connecting panel (3E) is connected with the AH driven rotor of AH steering wheel (8H), and the other end of AC connecting panel (3E) is connected with the AE driven rotor of AE steering wheel (8E);
One end of AB connecting panel (3F) is connected with the AH driving rotor (8H1) of AH steering wheel (8H), and the other end of AC connecting panel (3E) is connected with the AE driving rotor (8E1) of AE steering wheel (8E);
Right leg (4) includes BE steering wheel support (4A), BH steering wheel support (4B), BC transmission plate (4C), BD transmission plate (4D), BC connecting panel (4E), BD connecting panel (4F), BB swivel bearing (4G), BB linear bearing (4P), BB pressure sensor (4M), BC spring (4I), BD spring (4H), BB slide bar (4J), BB rubber feet pad (4K), BB pad (4L), BB external (4N) and BB sleeve (4Q),
One end of BB slide bar (4J) is arranged in BB rubber feet pad (4K), and the other end of BB slide bar (4J) contacts with BB pressure sensor (4M); BB slide bar (4J) is socketed with BC spring (4I), BB linear bearing (4P) and BB sleeve (4Q), and the end thereof contacts of the end of BB linear bearing (4P) and BC spring 4I, the other end of BC spring (4I) is stopped by the dome ring (4J1) on BB slide bar (4J);
The upper end of BB sleeve (4Q) is inserted in one end of BB linear bearing (4P); BB sleeve (4Q) is fixed with the bottom of BE steering wheel support (4A);
BB external (4N) is fixed in the lateral plates of BE steering wheel support (4A), is placed with BD spring (4H), BB pad (4L) and BB pressure sensor (4M) in BB external (4N); BB pad (4L) is provided with between BD spring (4H) and BB pressure sensor (4M);
BE steering wheel support (4A) is for installing BD steering wheel (9D);
The bottom of BD steering wheel support (4A) and BB sleeve (4Q) are fixed;
BH steering wheel support (4B) is for installing BG steering wheel (9G); The top of BG steering wheel support (4B) and BC transmission plate (4C) are fixed, and the bottom of BG steering wheel support (4B) and BB transmission plate (4D) are fixed;
One end of BC transmission plate (4C) is connected on BB swivel bearing (4G), and the other end of BC transmission plate (4C) is fixed on the top of BG steering wheel support (4B);
One end of BD transmission plate (4D) is connected on the BB driven rotor of BB steering wheel (9B), and the other end of BD transmission plate (4D) is fixed on the bottom of (BH) steering wheel support (4B);
One end of BC connecting panel (4E) is connected with the AH driven rotor of BH steering wheel (9H), and the other end of BC connecting panel (4E) is connected with the BE driven rotor of BE steering wheel (9E);
One end of BD connecting panel (4F) is connected with the BH driving rotor (9H1) of BH steering wheel (9H), and the other end of BC connecting panel (4E) is connected with the BE driving rotor (9E1) of BE steering wheel (9E);
Left back leg (5) includes AF steering wheel support (5A), AJ steering wheel support (5B), AE transmission plate (5C), AF transmission plate (5D), AE connecting panel (5E), AF connecting panel (5F), AC swivel bearing (5G), AC linear bearing (5P), AC pressure sensor (5M), AE spring (5I), AF spring (5H), AC slide bar (5J), AC rubber feet pad (5K), AC pad (5L), AC external (5N) and AC sleeve (5Q),
One end of AC slide bar (5J) is arranged in AC rubber feet pad (5K), and the other end of AC slide bar (5J) contacts with AC pressure sensor (5M); AC slide bar (5J) is socketed with AE spring (5I), AC linear bearing (5P) and AC sleeve (5Q), and the end thereof contacts of the end of AC linear bearing (5P) and AC spring (5I), the other end of AE spring (5I) is stopped by the dome ring (5J1) on AC slide bar (5J);
The upper end of AC sleeve (5Q) is inserted in one end of AC linear bearing (5P); AC sleeve (5Q) is fixed with the bottom of AF steering wheel support (5A);
AC external (5N) is fixed in the lateral plates of AF steering wheel support (5A), is placed with AF spring (5H), AC pad (5L) and AC pressure sensor (5M) in AC external (5N); AC pad (5L) is provided with between AF spring (5H) and AC pressure sensor (5M);
AF steering wheel support (5A) is for installing AF steering wheel (8F);
The bottom of AF steering wheel support (5A) and AC sleeve (5Q) are fixed;
AJ steering wheel support (5B) is for installing AJ steering wheel (8J); The top of AJ steering wheel support (5B) and AE pass plate (5C) and fix, and the bottom of AJ steering wheel support (5B) and AF transmission plate (5D) are fixed;
One end of AE transmission plate (5C) is connected on AC swivel bearing (5G), and the other end of AE transmission plate (5C) is fixed on the top of AJ steering wheel support (5B);
One end of AF transmission plate (5D) is connected on the AF driven rotor of AF steering wheel (8F), and the other end of AF transmission plate (5D) is fixed on the bottom of AJ steering wheel support (5B);
One end of AE connecting panel (5E) is connected with the AJ driven rotor of AJ steering wheel (8G), and the other end of AE connecting panel (5E) is connected with the AF driven rotor of AF steering wheel (8F);
One end of AF connecting panel (5F) is connected with the AJ driving rotor (8J1) of AJ steering wheel (8J), and the other end of AE connecting panel (5E) is connected with the AF driving rotor (8F1) of AF steering wheel (8F);
Right rear leg (6) includes BF steering wheel support (6A), BJ steering wheel support (6B), BE transmission plate (6C), BF transmission plate (6D), BE connecting panel (6E), BF connecting panel (6F), BA swivel bearing (6G), BA linear bearing (6P), BA pressure sensor (6M), BE spring (6I), BF spring (6H), BA slide bar (6J), BA rubber feet pad (6K), BA pad (6L), BA external (6N) and BA sleeve (6Q),
One end of BA slide bar (6J) is arranged in BA rubber feet pad (6K), and the other end of BA slide bar (6J) contacts with BA pressure sensor (6M); BA slide bar (6J) is socketed with BE spring (6I), BA linear bearing (6P) and BA sleeve (6Q), and the end thereof contacts of the end of BA linear bearing (6P) and BE spring (6I), the other end of BE spring (6I) is stopped by the dome ring (6J1) on BA slide bar (6J);
The upper end of BA sleeve (6Q) is inserted in one end of BA linear bearing (6P); BA sleeve (6Q) is fixed with the bottom of BF steering wheel support (6A);
BA external (6N) is fixed in the lateral plates of BF steering wheel support (6A), is placed with BF spring (6H), BA pad (6L) and BA pressure sensor (6M) in BA external (6N); BA pad (6L) is provided with between BF spring (6H) and BA pressure sensor (6M);
BF steering wheel support (6A) is for installing BF steering wheel (9F);
The bottom of BF steering wheel support (6A) and BA sleeve (6Q) are fixed;
BJ steering wheel support (6B) is for installing BJ steering wheel (9J); The top of BJ steering wheel support (6B) and BE transmission plate (6C) are fixed, and bottom and the BF transmission plate 6D of BJ steering wheel support (6B) fix;
One end of BE transmission plate (6C) is connected on BA swivel bearing (6G), and the other end of BE transmission plate (6C) is fixed on the top of BJ steering wheel support (6B);
One end of BF transmission plate (6D) is connected on the BC driven rotor of BC steering wheel (9C), and the other end of BF transmission plate (6D) is fixed on the bottom of BF steering wheel support (6B);
One end of BE connecting panel (6E) is connected with the BJ driven rotor of BJ steering wheel (9J), and the other end of BE connecting panel (6E) is connected with the BD driven rotor of BD steering wheel (9D);
One end of BF connecting panel (6F) is connected with the BJ driving rotor (9J1) of BJ steering wheel (9J), and the other end of BE connecting panel (6E) is connected with the BF driving rotor (9F1) of BF steering wheel (9F);
Front end body (7A) includes A stay bearing plate (7A01), A cover plate (7A02), the left riser of A (7A03), the right riser of A (7A04), front U-board (7A05), rear U-board (7A06), AA steering wheel frame (7A07) and BA steering wheel frame (7A08);
The left end of A stay bearing plate (7A01) is that AA installs plate (7A011), the right-hand member of A stay bearing plate (7A01) is that BA installs plate (7A012), is intermediate mass (7A013) between AA adapter plate (7A011) and BA adapter plate (7A012); Described AA installs on plate (7A011) for fixing AA steering wheel (8A); Described BA installs on plate (7A012) for fixing BA steering wheel (9A); Described intermediate mass (7A013) is fixed with the left riser of A (7A03), the right riser of A (7A04), and is spaced in intervals between the left riser of A (7A03) and the right riser of A (7A04);
AA steering wheel frame (7A07) is provided with transverse slat (7A071) and riser (7A072); Transverse slat (7A071) is for fixing AA steering wheel (8A); Riser (7A072) is fixed on the left riser of A (7A03); The assembling of AA steering wheel frame (7A07) and the left riser of A (7A03), the transverse slat (7A071) of AA steering wheel frame (7A07) and the AA of A stay bearing plate (7A01) are installed between plate (7A011) be spaced in intervals, this spacing is just in time for fixed placement AA steering wheel (8A);
BA steering wheel frame (7A08) is provided with transverse slat (7A081) and riser (7A082); Transverse slat (7A081) is for fixing BA steering wheel (9A); Riser (7A082) is fixed on the right riser of A (7A04); The assembling of BA steering wheel frame (7A08) and the right riser of A (7A04), the transverse slat (7A081) of BA steering wheel frame (7A08) and the BA of A stay bearing plate (7A01) are installed between plate (7A012) be spaced in intervals, this spacing is just in time for fixed placement BA steering wheel (9A);
One end of front U-board (7A05) is upper fitting (7A051), the other end of front U-board (7A05) is lower fitting (7A052), is middle fitting (7A053) between upper fitting (7A051) and lower fitting (7A052); Upper fitting (7A051) is connected with A cover plate (7A02); Lower fitting (7A052) is connected with the intermediate die plate (7A013) of A stay bearing plate (7A01); Middle fitting (7A053) is connected with the middle fitting (7A063) of rear U-board (7A06);
One end of rear U-board (7A06) is left fitting (7A061), the other end of rear U-board (7A06) is right fitting (7A062), is middle fitting (7A063) between left fitting (7A061) and right fitting (7A062); Left fitting (7A061) is connected with the roller bearing end cap (7B907) in the obstacle detouring transmission component (7B09) of rear end body (7B); Right fitting (7A062) is connected with the flange of the passive tooth wheel shaft (7B909) in the obstacle detouring transmission component (7B09) of rear end body 7B; Middle fitting (7A063) is connected with the middle fitting (7A053) of front U-board (7A05);
Front end body (7A) is assembled into: the left riser of A (7A03) is with the right riser of A (7A04) keeping parallelism and one end is fixed on A stay bearing plate (7A01), and the other end is fixed on A cover plate (7A02); AA steering wheel frame (7A07) is fixed on the outer panel face of the left riser of A (7A03); BA steering wheel frame (7A08) is fixed on the outer panel face of the right riser of A (7A04); One end of front U-board (7A05) is fixed on A cover plate (7A02), and the other end is fixed on A stay bearing plate (7A01); The middle part of front U-board (7A05) and the middle part of rear U-board (7A06) are fixed;
Rear end body (7B) includes B stay bearing plate (7B01), B cover plate (7B02), the left riser of B (7B03), the right riser of B (7B04), the left riser of C (7B13), the right riser of C (7B14), front L shaped plate (7B05), back L-shaped slab 7B06, AB steering wheel frame (7B07), AC steering wheel frame (7B17), BB steering wheel frame (7B08), BC steering wheel frame (7B18) and obstacle detouring transmission component (7B09);
B stay bearing plate (7B01) is provided with AB and installs plate (7B011), AC installation plate (7B014), BB installation plate (7B012) unit, BC installation plate (7B015), flange block (7B017), it is that to install that plate (7B014) and BC install between plate (7B015) be B lightening hole (7B016) for A lightening hole (7B013), AC that AB installs that plate (7B011) and BB install between plate (7B012); Described AB installs on plate (7B011) for fixing AB steering wheel (8B); Described BB installs on plate (7B012) for fixing BB steering wheel (9B); The both sides of described A lightening hole (7B013) are used for the fixing left riser of B (7B03), the right riser of B (7B04), and are spaced in intervals between the left riser of B (7B03) and the right riser of B (7B04); The both sides of described B lightening hole (7B016) are used for the left riser of fixation of C (7B13), the right riser of C (7B14), and are spaced in intervals between the left riser of C (7B13) and the right riser of C (7B14); Described flange block (7B17) is fixed with obstacle detouring transmission component (7B09), front L shaped plate (7B05) and back L-shaped slab (7B06);
AB steering wheel frame (7B07) is provided with transverse slat (7B071) and riser (7B072); Transverse slat (7B071) is for fixing AB steering wheel (8B); Riser (7B072) is fixed on the left riser of B (7B03); The assembling of AB steering wheel frame (7B07) and the left riser of B (7B03), the transverse slat (7B071) of AB steering wheel frame (7B07) and the AB of B stay bearing plate (7B01) are installed between plate (7B011) be spaced in intervals, this spacing is just in time for fixed placement AB steering wheel (8B);
AC steering wheel frame (7B17) is provided with transverse slat (7B171) and riser (7B172); Transverse slat (7B171) is for fixing AC steering wheel (8C); Riser (7B172) is fixed on the left riser of C (7B13); The assembling of AC steering wheel frame (7B17) and the left riser of C (7B13), the transverse slat (7B171) of AC steering wheel frame (7B17) and the AC of B stay bearing plate (7B01) are installed between plate (7B014) be spaced in intervals, this spacing is just in time for fixed placement AC steering wheel (8C);
BB steering wheel frame (7B08) is provided with transverse slat (7B081) and riser (7B082); Transverse slat (7B081) is for fixing BB steering wheel (9B); Riser (7B082) is fixed on the right riser of B (7B04); The assembling of BB steering wheel frame (7B08) and the right riser of B (7B04), the transverse slat (7B081) of BB steering wheel frame (7B08) and the BB of B stay bearing plate (7B01) are installed between plate (7B012) be spaced in intervals, this spacing is just in time for fixed placement BB steering wheel (9B);
BC steering wheel frame (7B18) is provided with transverse slat (7B181) and riser (7B182); Transverse slat (7B181) is for fixing BC steering wheel (9C); Riser (7B182) is fixed on the right riser of C (7B14); The assembling of BC steering wheel frame (7B18) and the right riser of C (7B14), the transverse slat (7B181) of BC steering wheel frame (7B18) and the BC of B stay bearing plate (7B01) are installed between plate (7B015) be spaced in intervals, this spacing is just in time for fixed placement BC steering wheel (9C);
Front L shaped plate (7B05) and back L-shaped slab (7B06) are staggered relatively and be fixed on flange block (7B17), fixedly mount trunk steering wheel (7C) between front L shaped plate (7B05) and back L-shaped slab (7B06);
Obstacle detouring transmission component (7B09) includes driving gear (7B906), driving gear shaft (7B905), ring gear (7B908), passive tooth wheel shaft (7B909), left bearing (7B903), right bearing (7B904), the left locating plate of bearing (7B901) and the right locating plate of bearing (7B902); The left locating plate of bearing (7B901) and the right locating plate of bearing (7B902) keeping parallelism and be fixedly mounted on the flange block (7B017) of B stay bearing plate (7B01); Driving gear (7B906) is arranged on driving gear shaft (7B905) by flat key (7B915), and the end of driving gear (7B906) is by back-up ring (7B914) clamping; Ring gear (7B908) is arranged on passive tooth wheel shaft (7B909) by flat key (7B913), and one end of ring gear (7B908) withstands on the inner ring of left bearing (7B903), the other end of ring gear (7B908) is fixed, by metal washer (7B912), rubber cradle (7B911) compensated position gap by the shaft shoulder (7B9092) on passive tooth wheel shaft (7B909); Left bearing (7B903) is arranged in the bearing bore (7B9011) of the left locating plate of bearing (7B901), and the outer ring of left bearing (7B903) is fixed by described bearing bore (7B9011), the inner ring of left bearing (7B903) is fixed by ring gear (7B908); Right bearing (7B904) is arranged in the bearing bore (7B9021) of the right locating plate of bearing (7B902), and the outer ring of right bearing (7B904) is fixed by described bearing bore (7B9021), the inner ring of right bearing (7B904) is fixed by the back-up ring (7B910) on the groove (7B9091) that is stuck in passive tooth wheel shaft 7B909 and is provided with; Described passive tooth wheel shaft (7B909) is with flange;
One end of the passive tooth wheel shaft (7B909) of obstacle detouring transmission component (7B09) is in turn through being connected on roller bearing end cap (7B907) after right bearing (7B904), back-up ring (7B910), ring gear (7B908), rubber cradle (7B911), metal washer (7B912), left bearing (7B903); Flat key (7B913) is separately fixed in the keyway (7B9092) of passive tooth wheel shaft (7B909) and the keyway (7B9071) of roller bearing end cap (7B907), effectively ensure that being synchronized with the movement of roller bearing end cap (7B907) and passive tooth wheel shaft (7B909);
The driving rotor of trunk steering wheel (7C) is connected on driving gear shaft (7B905), and driving gear shaft (7B905) one end is through driving gear (7B906) and back-up ring (7B914);
Obstacle detouring transmission component (7B09) drives driving gear (7B906) to move by the output of trunk steering wheel (7C), under the moving condition of driving gear (7B906), drive ring gear (7B908) motion, the Movement transmit of ring gear (7B908) is to passive tooth wheel shaft (7B909); The motion of passive tooth wheel shaft (7B909) makes front end body (7A) to realize luffing.
2. the Six-foot walking robot with obstacle climbing ability according to claim 1, is characterized in that: this robot includes hip joint, large leg joint and calf joint;
Hip joint includes the first left hip joint, the second left hip joint, the 3rd left hip joint, the first right hip joint, the second right hip joint, the 3rd right hip joint; First left hip joint comprises AA steering wheel (8A), AA swivel bearing (1G), AA transmission plate (1C), AB transmission plate (1D); Second left hip joint comprises AB steering wheel (8B), AB swivel bearing (3G), AC transmission plate (3C), AD transmission plate (3D); 3rd left hip joint comprises AC steering wheel (8C), AC swivel bearing (5G), AE transmission plate (5C), AF transmission plate (5D); First right hip joint comprises BA steering wheel (9A), BA swivel bearing (2G), BA transmission plate (2C), BB transmission plate (2D); Second right hip joint comprises BB steering wheel (9B), BB swivel bearing (4G), BC transmission plate (4C), BD transmission plate (4D); 3rd right hip joint comprises BC steering wheel (9C), BC swivel bearing (6G), BE transmission plate (6C), BF transmission plate (6D);
Large leg joint includes the first left thigh joint, the second left thigh joint, the 3rd left thigh joint, the first right thigh joint, the second right thigh joint, the 3rd right thigh joint; First left thigh joint comprises AG steering wheel (8G), AA connecting panel (1E), AB connecting panel (1F), AG steering wheel support (1B); Second left thigh joint comprises AH steering wheel (8H), AC connecting panel (3E), AD connecting panel (3F), AH steering wheel support (3B); 3rd left thigh joint comprises AJ steering wheel (8J), AE connecting panel (5E), AF connecting panel (5F), AJ steering wheel support (5B); First right thigh joint comprises BG steering wheel (9G), BA connecting panel (2E), BB connecting panel (2F), BG steering wheel support (2B); Second right thigh joint comprises BH steering wheel (9H), BC connecting panel (4E), BD connecting panel (4F), BH steering wheel support (4B); 3rd right thigh joint comprises BJ steering wheel (9J), BE connecting panel (6E), BF connecting panel (6F), BJ steering wheel support (6B);
Calf joint includes the first left leg joint, the second left leg joint, the 3rd left leg joint, the first right leg joint, the second right leg joint, the 3rd right leg joint; First left leg joint comprises AD steering wheel (8D), AD steering wheel support (1A), AA external (1N), AA sleeve (1Q), AA slide bar (1J), AA rubber feet pad (1K), AA linear bearing (1P), AA pressure sensor (1M), AA spring (1I), AB spring (1H) and AA pad (1L); Second left leg joint comprises AE steering wheel (8E), AE steering wheel support (3A), AB external (3N), AB sleeve (3Q), AB slide bar (3J), AB rubber feet pad (3K), AB linear bearing (3P), AB pressure sensor (3M), AC spring (3I), AD spring (3H) and AB pad (3L); 3rd left leg joint comprises AF steering wheel (8F), AF steering wheel support (5A), AC external (5N), AC sleeve (5Q), AC slide bar (5J), AC rubber feet pad (5K), AC linear bearing (5P), AC pressure sensor (5M), AE spring (5I), AF spring (5H) and AC pad (5L); First right leg joint comprises BD steering wheel (9D), BD steering wheel support (2A), BA external (2N), BA sleeve (2Q), BA slide bar (2J), BA rubber feet pad (2K), BA linear bearing (2P), BA pressure sensor (2M), BA spring (2I), BB spring (2H) and BA pad (2L); Second right leg joint comprises BE steering wheel (9E), BE steering wheel support (4A), BB external (4N), BB sleeve (4Q), BB slide bar (4J), BB rubber feet pad (4K), BB linear bearing (4P), BB pressure sensor (4M), BC spring (4I), BD spring (4H) and BB pad (4L); 3rd right leg joint comprises BF steering wheel (9F), BF steering wheel support (6A), BC external (6N), BC sleeve (6Q), BC slide bar (6J), BC rubber feet pad (6K), BC linear bearing (6P), BC pressure sensor (6M), BE spring (6I), BF spring (6H) and BC pad (6L).
3. the Six-foot walking robot with obstacle climbing ability according to claim 1, is characterized in that: this robot with the driving rotor of steering wheel for rotary joint has 19 degree of freedom;
(1) first degree of freedom: refer to the rotation that the driving rotor around AA steering wheel (8A) carries out, the driving rotor of described AA steering wheel (8A) is parallel to Y-axis;
(2) second degree of freedom: refer to the rotation that the driving rotor around AB steering wheel (8B) carries out, the driving rotor of described AB steering wheel (8B) is parallel to Y-axis;
(3) three degree of freedom: refer to the rotation that the driving rotor around AC steering wheel (8C) carries out, the driving rotor of described AC steering wheel (8C) is parallel to Y-axis;
(4) four-degree-of-freedoms: refer to the rotation that the driving rotor around AD steering wheel (8D) carries out, the driving rotor of described AD steering wheel (8D) is parallel to X-axis;
(5) five degree of freedom: refer to the rotation that the driving rotor around AE steering wheel (8E) carries out, the driving rotor of described AE steering wheel (8E) is parallel to X-axis;
(6) six degree of freedoms: refer to the rotation that the driving rotor around AF steering wheel (8F) carries out, the driving rotor of described AF steering wheel (8F) is parallel to X-axis;
(7) seven freedoms: refer to the rotation that the driving rotor around AG steering wheel (8G) carries out, the driving rotor of described AG steering wheel (8G) is parallel to X-axis;
(8) eight degrees of freedom: refer to the rotation that the driving rotor around AH steering wheel (8H) carries out, the driving rotor of described AH steering wheel (8H) is parallel to X-axis;
(9) nine-degree of freedom: refer to the rotation that the driving rotor around AJ steering wheel (8J) carries out, the driving rotor of described AJ steering wheel (8J) is parallel to X-axis;
(10) the tenth degree of freedom: refer to the rotation that the driving rotor around BA steering wheel (9A) carries out, the driving rotor of described BA steering wheel (9A) is parallel to Y-axis;
(11) the tenth single-degree-of-freedoms: refer to the rotation that the driving rotor around BB steering wheel (9B) carries out, the driving rotor of described BB steering wheel (9B) is parallel to Y-axis;
(12) the tenth two degrees of freedom: refer to the rotation that the driving rotor around BC steering wheel (9C) carries out, the driving rotor of described BC steering wheel (9C) is parallel to Y-axis;
(13) thirteen-degree-of-freedoms: refer to the rotation that the driving rotor around BD steering wheel (9D) carries out, the driving rotor of described BD steering wheel (9D) is parallel to X-axis;
(14) the tenth four-degree-of-freedoms: refer to the rotation that the driving rotor around BE steering wheel (9E) carries out, the driving rotor of described BE steering wheel (9E) is parallel to X-axis;
(15) the tenth five degree of freedom: refer to the rotation that the driving rotor around BF steering wheel (9F) carries out, the driving rotor of described BF steering wheel (9F) is parallel to X-axis;
(16) the tenth six degree of freedoms: refer to the rotation that the driving rotor around BG steering wheel (9G) carries out, the driving rotor of described BG steering wheel (9G) is parallel to X-axis;
(17) the tenth seven freedoms: refer to the rotation that the driving rotor around BH steering wheel (9H) carries out, the driving rotor of described BH steering wheel (9H) is parallel to X-axis;
(18) the tenth eight degrees of freedom: refer to the rotation that the driving rotor around BJ steering wheel (9J) carries out, the driving rotor of described BJ steering wheel (9J) is parallel to X-axis;
(19) the tenth nine-degree of freedom: refer to the rotation carried out around passive tooth wheel shaft (7B909), the axis being parallel of described passive tooth wheel shaft (7B909) is in Z axis.
CN201310418519.7A 2013-09-13 2013-09-13 A kind of Six-foot walking robot with obstacle climbing ability Expired - Fee Related CN103481964B (en)

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