CN105691483A - Hexapod walking robot - Google Patents
Hexapod walking robot Download PDFInfo
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- CN105691483A CN105691483A CN201610028933.0A CN201610028933A CN105691483A CN 105691483 A CN105691483 A CN 105691483A CN 201610028933 A CN201610028933 A CN 201610028933A CN 105691483 A CN105691483 A CN 105691483A
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- cradle head
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- steering wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The invention discloses a hexapod walking robot which comprises a machine body and leg and foot structures, wherein the machine body is a main body structure of the robot; a plane of the main body structure is hexagonal; the amount of the leg and foot structures is six groups; the six groups of structures are arranged on six corners of the hexagonal machine body respectively; each leg and foot structure is composed of three stages of joints, which are composed of a first-stage horizontal rotation joint, a second-stage vertical rotation joint and a third-stage vertical rotation joint; and the hexapod walking robot is designed and manufactured with an insect in hexapoda as an original shape. According to the hexapod walking robot, from the bionics perspective, a walking manner of the insect can be most suitable for various complex topographies on earth, so that the hexapod walking robot also has a very ideal walking structure; the hexapod walking robot can rotate within a plane so as to realize the functions of walking forwards and spot turning and can rotate within the vertical surface so as to realize the functions of lifting and falling legs; and feet can rotate within the vertical surface so as to regulate an angle that the feet fall to the ground, and the structure is more stable.
Description
Technical field
The present invention is a kind of Hexapod Robot, belongs to Robot Design manufacturing technology field。
Background technology
Along with the development of science and technology, stepping up of automaticity, robot has been applied to the every field such as scientific research, detection, production, rescue more and more widely。Although, robot of a great variety, Various Functions, but for its walking manner, mainly have three kinds: wheeled, crawler type and foot formula。The each have their own feature of these three walking manner。
Wheeled and crawler type is most commonly seen walking manner, and it has control rapid advantage smoothly simple, mobile。But the obstacle climbing ability of legged type robot to be significantly larger than the above two。Simultaneously for various complicated topography and geomorphologies, legged type robot also has higher adaptive capacity。
Walking robot is to utilize bionics principle, imitates the biological gait walked in various nature, realizes a kind of robot self moved。It experienced by the development of a century, achieves significant progress。Its evolution mainly experienced by the three below stage:
First stage: with the robot of mechanically and hydraulically control realization motion；
Second stage: the robot controlled with electronic computer technology；
Phase III: multi-functional and autonomy requirement makes robotics enter new developmental stage。
So-called Multifeet walking robot, generally refers to the robot of more than four-footed and four-footed, for instance quadruped robot, Hexapod Robot, eight biped robots etc.。
Summary of the invention
It is an object of the invention to propose kind of a bionical Hexapod Robot, manufacture and design for original shape with Hexapoda insecticide。From bionic angle, the walking manner of insecticide is the landform being best able to adapt to tellurian various complexity, so, Hexapod Robot is also a kind of very good walking structure。Described Hexapod Robot should meet following three partial functions:
The first, can rotate in horizontal plane, to realize walking forward, pivot turn function；
The second, can rotate in vertical plane, to realize the function lifted with fall of leg；
3rd, foot at vertical rotation in surface, to adjust the angle that foot lands, can make agent structure more stable。
For achieving the above object, the technical solution used in the present invention is Six-foot walking robot, and this robot includes fuselage 1 and lower limb foot structure 2, and fuselage 1 is the agent structure of robot, and the plane of this agent structure is hexagon；Totally six groups of lower limb foot structure 2, these six groups of structures set up separately on 1 six angles of hexagonal fuselage。
Lower limb foot structure 2 is made up of three grades of joints, and these three grades of joints include the first order and horizontally rotate joint 3, the vertical cradle head in the second level 4, the vertical cradle head 5 of the third level；Wherein, the first order horizontally rotates the attachment structure that joint 3 is lower limb foot structure and fuselage；The vertical cradle head in the second level 4 is arranged on the first order and horizontally rotates between joint 3 and the vertical cradle head 5 of the third level, and the vertical cradle head 4 in the second level is the transition structure connected；The vertical cradle head 5 of the third level is the adjustment structure of lower limb foot。
It is connected by H type bar 6 between the vertical cradle head in the second level 4 with the vertical cradle head 5 of the third level。
The position of lower limb foot structure 2 is adjusted by three groups of steering wheels 7, and it is level(l)ing mechanism that the first order horizontally rotates the steering wheel 7 on joint 3。
The vertical cradle head in the second level 4 is vertical governor motion with the steering wheel 7 on the vertical cradle head of the third level 5。
Being equipped with joint frame 8 on three grades of joints of lower limb foot structure 2, steering wheel 7 is arranged on joint frame 8；The first order horizontally rotates the steering wheel 7 on joint 3 and is arranged on the vertical direction on joint frame 8, and steering wheel 7 horizontally rotates and drive the vertical cradle head 5 of the vertical cradle head in the second level 4, the third level to carry out the position adjustments of horizontal direction；The first order horizontally rotates joint 3 and is connected with behind the 90 ° of angles of two steering wheel 7 mutual dislocation on the vertical cradle head 4 in the second level, and both form a whole, and without relative motion。
Steering wheel 7 on the vertical cradle head 4 in the second level is arranged on the horizontal direction on joint frame 8, and steering wheel 7 vertically rotates and drives the vertical cradle head 5 of the third level to carry out the position adjustments of vertical direction。
Steering wheel 7 on the vertical cradle head 5 of the third level is arranged on the horizontal direction on joint frame 8, and steering wheel 7 vertically rotates and drives foot 9 to carry out the position adjustments of vertical direction。
Described H type bar 6 is connected by two groups of U-shaped bars and forms, and H type bar 6 is the leg main body of this Hexapod Robot lower limb foot structure 2。
The bottom of described foot 9 is horn structure, and foot 9 is the action executing agent structure of lower limb foot structure 2。
Each steering wheel 7 in described lower limb foot structure 2 is by Single-chip Controlling, and single-chip microcomputer is installed on the fuselage 1。
The described first order horizontally rotates between joint 3, the vertical cradle head in the second level 4, the vertical cradle head 5 of the third level for being articulated and connected。
Described fuselage 1 is provided with supersonic range finder。
Six drift angles of described fuselage 1 are by cutting and formed six boss, and drift angle place is polished into circular arc。Having five holes on each boss of fuselage 1, middle macropore is the dead eye installing rolling bearing, and four apertures on side are the rotating shaft screw bolt holes horizontally rotating steering wheel 7 on joint 3 for fixing the first order。
Compared with prior art, the present invention has the advantages that。
1, the present invention adopts six foot layouts, but not four-footed, five foots or eight foot layouts, it is primarily due to six foot layout structures symmetrical, gait control is more convenient, and relative quadruped robot, six foot layouts have higher stability, and relative eight foot layouts, six foot layouts have again simple in construction, the advantage that interference is less relatively between each bar leg exercise。Meanwhile, what Hexapod Robot was imitated is the action modes of Hexapoda insecticide。It was verified that the walking manner of six foot insecticides is best able to adapt to tellurian various complicated landform。So, six foot layouts are one very reasonably layout type。
2, between leg and the health of robot, between leg and joint, all adopting reamer bolt or bolt and nut to be connected between leg with foot, suitably after dismounting, this robot can be contained in the square box of a 30cm × 30cm × 6cm。Meanwhile, joint realizes rotating by steering wheel, mutually coordinated between each steering wheel, and the shape of robot can be gradually transitions an elongated cylinder from a flat hexagram。This allows for this robot and is provided with easy accessibility, is easy to carry, is easy to the plurality of advantages such as deformation camouflage。
3, this robot also has certain intelligent feature。Body part in robot, install supersonic range finder additional, make it can in certain distance, find preceding object thing or to self close suspicious mobile target, then pass through single-chip microcomputer, automatically start corresponding leg and control program, it is achieved turning avoiding barrier or original place " droping to the ground " hide self, it is prevented that the function found by suspicious object。
3, after this bionical Hexapod Robot installs mechanical hand additional, it is possible to enter the inside narrow space of some machineries, this machinery is keeped in repair, maintains；Militarily can also perform the removal of mines, explosive task, it is to avoid personnel and the close contact of explosive, make the danger of this generic task be substantially reduced。After installing photographic head or other detecting devices additional, it is possible to enter some narrow and small holes, carry out the operation such as archaeological excavation, mineral detection。It can also be utilized to be good at deformation camouflage, adapt to the feature of various landform, carry out the activities such as military surveillance。So, the range of application of this patent is also very widely。
4, the leg of this Hexapod Robot and health, each joint of leg, all adopt between leg and foot and threaded, there is the feature of easy accessibility。
Meanwhile, by the reasonable rotation of each joint steering wheel, the height of robot is minimum is down to 6cm, makes overall in star, and the highest 30cm that rises to makes overall cylindrical。If after leg and health being taken apart, this robot can all be contained in the square box of an about 30cm × 30cm × 6cm。So, it also has portable advantage。
Additionally, this Hexapod Robot also has certain intelligent feature。It has installed supersonic range finder additional so that it is can independently find preceding object thing, and automatically starts and control program accordingly so that it is turns and avoids this obstacle。
Accompanying drawing explanation
Fig. 1 is the Hexapod Robot perspective view of the present invention。
Fig. 2 is the Hexapod Robot planar structure schematic diagram of the present invention。
Fig. 3 is the lower limb foot structural representation of the present invention。
Fig. 4 is the joint frame scheme of installation of the present invention。
Fig. 5 is the connection diagram on U-shaped part。
Fig. 6 is the schematic diagram on H type bar。
Fig. 7 is the structure chart of fuselage。
Fig. 8 is the structural representation of joint frame。
In figure: 1, fuselage, 2, lower limb foot structure, 3, the first order horizontally rotate joint, 4, the vertical cradle head in the second level, 5, the vertical cradle head of the third level, 6, H type bar, 7, steering wheel, 8, joint frame, 9, foot。
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the Hexapod Robot of the present invention is described in further details。
As shown in figures 1-8, Six-foot walking robot, this robot includes fuselage 1 and lower limb foot structure 2, and fuselage 1 is the agent structure of robot, and the plane of this agent structure is hexagon；Totally six groups of lower limb foot structure 2, these six groups of structures set up separately on 1 six angles of hexagonal fuselage。
Lower limb foot structure 2 is made up of three grades of joints, and these three grades of joints include the first order and horizontally rotate joint 3, the vertical cradle head in the second level 4, the vertical cradle head 5 of the third level；Wherein, the first order horizontally rotates the attachment structure that joint 3 is lower limb foot structure and fuselage；The vertical cradle head in the second level 4 is arranged on the first order and horizontally rotates between joint 3 and the vertical cradle head 5 of the third level, and the vertical cradle head 4 in the second level is the transition structure connected；The vertical cradle head 5 of the third level is the adjustment structure of lower limb foot。
It is connected by H type bar 6 between the vertical cradle head in the second level 4 with the vertical cradle head 5 of the third level。
The position of lower limb foot structure 2 is adjusted by three groups of steering wheels 7, and it is level(l)ing mechanism that the first order horizontally rotates the steering wheel 7 on joint 3。
The vertical cradle head in the second level 4 is vertical governor motion with the steering wheel 7 on the vertical cradle head of the third level 5。
Being equipped with joint frame 8 on three grades of joints of lower limb foot structure 2, steering wheel 7 is arranged on joint frame 8；The first order horizontally rotates the steering wheel 7 on joint 3 and is arranged on the vertical direction on joint frame 8, and steering wheel 7 horizontally rotates and drive the vertical cradle head 5 of the vertical cradle head in the second level 4, the third level to carry out the position adjustments of horizontal direction。
Steering wheel 7 on the vertical cradle head 4 in the second level is arranged on the horizontal direction on joint frame 8, and steering wheel 7 vertically rotates and drives the vertical cradle head 5 of the third level to carry out the position adjustments of vertical direction。
Steering wheel 7 on the vertical cradle head 5 of the third level is arranged on the horizontal direction on joint frame 8, and steering wheel 7 vertically rotates and drives foot 9 to carry out the position adjustments of vertical direction。
Described H type bar 6 is connected by two groups of U-shaped bars and forms, and H type bar 6 is the leg main body of this Hexapod Robot lower limb foot structure 2。
The bottom of described foot 9 is horn structure, and foot 9 is the action executing agent structure of lower limb foot structure 2。
Each steering wheel 7 in described lower limb foot structure 2 is by Single-chip Controlling, and single-chip microcomputer is installed on the fuselage 1。
The described first order horizontally rotates between joint 3, the vertical cradle head in the second level 4, the vertical cradle head 5 of the third level for being articulated and connected。
Described fuselage 1 is provided with supersonic range finder。
Six drift angles of described fuselage 1 are by cutting and formed six boss, and drift angle place is polished into circular arc。Having five holes on each boss of fuselage 1, middle macropore is the dead eye installing rolling bearing, and four apertures on side are the rotating shaft screw bolt holes horizontally rotating steering wheel 7 on joint 3 for fixing the first order。
Claims (10)
1. Six-foot walking robot, it is characterised in that: this robot includes fuselage (1) and lower limb foot structure (2), the agent structure that fuselage (1) is robot, and the plane of this agent structure is hexagon；Lower limb foot structure (2) totally six groups, these six groups of structures set up separately on (1) six angle of hexagonal fuselage；
Lower limb foot structure (2) is made up of three grades of joints, and these three grades of joints include the first order and horizontally rotate joint (3), the vertical cradle head in the second level (4), the vertical cradle head of the third level (5)；Wherein, the first order horizontally rotates the joint (3) attachment structure for lower limb foot structure Yu fuselage；The vertical cradle head in the second level (4) is arranged on the first order and horizontally rotates between joint (3) and the vertical cradle head of the third level (5), and the vertical cradle head in the second level (4) is the transition structure connected；The vertical cradle head of the third level (5) is the adjustment structure of lower limb foot。
2. Six-foot walking robot according to claim 1, it is characterised in that: it is connected by H type bar (6) between the vertical cradle head in the second level (4) with the vertical cradle head of the third level (5)。
3. Six-foot walking robot according to claim 2, it is characterised in that: described H type bar (6) is connected by two groups of U-shaped bars and forms, and H type bar (6) is the leg main body of this Hexapod Robot lower limb foot structure (2)。
4. Six-foot walking robot according to claim 1, it is characterized in that: the position of lower limb foot structure (2) is adjusted by three groups of steering wheels (7), the steering wheel (7) that the first order horizontally rotates on joint (3) is level(l)ing mechanism。
5. Six-foot walking robot according to claim 1, it is characterised in that: the vertical cradle head in the second level (4) is vertical governor motion with the steering wheel (7) on the vertical cradle head of the third level (5)。
6. Six-foot walking robot according to claim 5, it is characterised in that: the bottom of described foot (9) is horn structure, and foot (9) is the action executing agent structure of lower limb foot structure (2)。
7. Six-foot walking robot according to claim 1, it is characterised in that: being equipped with joint frame (8) on three grades of joints of lower limb foot structure (2), steering wheel (7) is arranged on joint frame (8)；The first order horizontally rotates the steering wheel (7) on joint (3) and is arranged on the vertical direction on joint frame (8), and steering wheel (7) horizontally rotates and drive the vertical cradle head in the second level (4), the vertical cradle head of the third level (5) to carry out the position adjustments of horizontal direction；The first order horizontally rotates joint (3) and is connected with behind the 90 ° of angles of two steering wheel (7) mutual dislocation on the vertical cradle head in the second level (4), and both form a whole, and without relative motion；
Steering wheel (7) on the vertical cradle head in the second level (4) is arranged on the horizontal direction on joint frame (8), and steering wheel (7) vertically rotates and drives the vertical cradle head of the third level (5) to carry out the position adjustments of vertical direction；
Steering wheel (7) on the vertical cradle head of the third level (5) is arranged on the horizontal direction on joint frame (8), and steering wheel (7) vertically rotates and drives foot (9) to carry out the position adjustments of vertical direction。
8. Six-foot walking robot according to claim 7, it is characterised in that: each steering wheel (7) on described lower limb foot structure (2) is by Single-chip Controlling, and single-chip microcomputer is arranged on fuselage (1)。
9. Six-foot walking robot according to claim 1, it is characterised in that: the described first order horizontally rotates between joint (3), the vertical cradle head in the second level (4), the vertical cradle head of the third level (5) for being articulated and connected。
10. Six-foot walking robot according to claim 1, it is characterised in that: described fuselage is provided with supersonic range finder on (1)；
Six drift angles of described fuselage (1) are by cutting and formed six boss, and drift angle place is polished into circular arc；Having five holes, middle macropore on each boss of fuselage (1) is the dead eye installing rolling bearing。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610028933.0A CN105691483A (en) | 2016-01-15 | 2016-01-15 | Hexapod walking robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610028933.0A CN105691483A (en) | 2016-01-15 | 2016-01-15 | Hexapod walking robot |
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| CN105691483A true CN105691483A (en) | 2016-06-22 |
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| CN201610028933.0A Pending CN105691483A (en) | 2016-01-15 | 2016-01-15 | Hexapod walking robot |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106741278A (en) * | 2016-11-29 | 2017-05-31 | 河南科技大学 | It is a kind of can automatic turning walking robot |
| CN107284551A (en) * | 2017-06-23 | 2017-10-24 | 江苏工程职业技术学院 | A kind of sniffing robot for being applicable complicated landform |
| CN107416066A (en) * | 2017-07-29 | 2017-12-01 | 华南理工大学 | A kind of quadruped robot |
| CN109533080A (en) * | 2018-12-29 | 2019-03-29 | 北京工商大学 | Hexapod robot |
| CN109533074A (en) * | 2018-11-14 | 2019-03-29 | 西北农林科技大学 | A kind of implementation method of hexapod robot and its gait of keeping straight on |
| CN109878594A (en) * | 2019-02-20 | 2019-06-14 | 北京交通大学 | A kind of main passive matrix parallel flexible articulation mechanism |
| CN112026953A (en) * | 2020-10-12 | 2020-12-04 | 山东大学 | Modular self-reconstruction hexapod robot |
| CN112297031A (en) * | 2020-11-18 | 2021-02-02 | 安徽工程大学 | Remote control bionic detection robot |
| CN112722104A (en) * | 2020-12-28 | 2021-04-30 | 广东工业大学 | Foot adheres to fixed establishment's wall climbing robot |
| CN113084825A (en) * | 2021-03-24 | 2021-07-09 | 深圳市注能科技有限公司 | Robot and robot foot |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106741278A (en) * | 2016-11-29 | 2017-05-31 | 河南科技大学 | It is a kind of can automatic turning walking robot |
| CN107284551A (en) * | 2017-06-23 | 2017-10-24 | 江苏工程职业技术学院 | A kind of sniffing robot for being applicable complicated landform |
| CN107416066A (en) * | 2017-07-29 | 2017-12-01 | 华南理工大学 | A kind of quadruped robot |
| CN107416066B (en) * | 2017-07-29 | 2023-12-01 | 华南理工大学 | Four-foot robot |
| CN109533074A (en) * | 2018-11-14 | 2019-03-29 | 西北农林科技大学 | A kind of implementation method of hexapod robot and its gait of keeping straight on |
| CN109533080A (en) * | 2018-12-29 | 2019-03-29 | 北京工商大学 | Hexapod robot |
| CN109878594B (en) * | 2019-02-20 | 2021-08-13 | 北京交通大学 | Leg mechanism with active-passive driving parallel flexible joints |
| CN109878594A (en) * | 2019-02-20 | 2019-06-14 | 北京交通大学 | A kind of main passive matrix parallel flexible articulation mechanism |
| CN112026953A (en) * | 2020-10-12 | 2020-12-04 | 山东大学 | Modular self-reconstruction hexapod robot |
| CN112297031A (en) * | 2020-11-18 | 2021-02-02 | 安徽工程大学 | Remote control bionic detection robot |
| CN112722104A (en) * | 2020-12-28 | 2021-04-30 | 广东工业大学 | Foot adheres to fixed establishment's wall climbing robot |
| CN112722104B (en) * | 2020-12-28 | 2022-03-25 | 广东工业大学 | Foot adheres to fixed establishment's wall climbing robot |
| CN113084825A (en) * | 2021-03-24 | 2021-07-09 | 深圳市注能科技有限公司 | Robot and robot foot |
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Application publication date: 20160622 |