CN105857435A - Eight-legged walking robot - Google Patents
Eight-legged walking robot Download PDFInfo
- Publication number
- CN105857435A CN105857435A CN201610267954.8A CN201610267954A CN105857435A CN 105857435 A CN105857435 A CN 105857435A CN 201610267954 A CN201610267954 A CN 201610267954A CN 105857435 A CN105857435 A CN 105857435A
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- China
- Prior art keywords
- mainframe
- leg
- foot walking
- walking robots
- main rack
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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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
An eight-legged walking robot comprises a main rack, a transmission mechanism and a plurality of leg linkage mechanisms, wherein a control center is arranged in the main rack and controls operation of the leg linkage mechanisms through the transmission mechanism; the transmission mechanism comprises a stepper motor, a transmission shaft and eight continuous track transmission devices arranged at two ends of the main rack in a mirroring manner; each leg linkage mechanism comprises a support leg and a track rod, a connecting part and a limiting part are arranged on the side edge of the support leg, and the connecting part is fixed relative to a corresponding transmission continuous track. The control center controls two support legs on the inner side of one end of the main rack to stand on the ground, two support legs on the outer side perform forward lifting and dropping actions according to movement paths of the corresponding transmission continuous track, at the moment, two support legs on the inner side of the other end of the main rack are in a lifting state and the two support legs on the outer side are in a dropping state, operation is repeated, the support leg points form triangular stable structures all along, and the stability of the walking robot is improved.
Description
Technical field
The present invention relates to robot automation field, particularly relate to a kind of eight foot walking robots adapting to various obstacle road conditions.
Background technology
Along with the development of robotics, the application of walking robot is more and more wider.From the viewpoint of reality, walking movement truly has the distinctive feature that wheel machine is incomparable.It utilizes the continuous ground supports needed for isolated ground supports rather than wheel machine；Can be in uneven region with stationary mode walking or obstacle avoidance in a non contact fashion；Can omnibearing movable and lossless ground；The available mode of striding crosses over rough earth etc..But prior art and scheme operating structure are relative complex, drive mechanism linking is loaded down with trivial details, and easily causes mainframe to be toppled over to side owing to basing oneself upon shakiness in the process of walking.
Summary of the invention
For solving the problems referred to above, the invention provides a kind of eight foot walking robots.
A kind of eight foot walking robots, including mainframe, drive mechanism and multiple leg link mechanism, it is provided with control centre in described mainframe, the operation by each leg link mechanism of transmission mechanism control of the described control centre, described drive mechanism includes motor, power transmission shaft and eight mirror images are arranged at the caterpillar driving device at mainframe two ends, described motor, power transmission shaft, caterpillar driving device composition is linked, described caterpillar driving device includes multiple drive and driven pedrail, multiple described leg link mechanisms all include leg and rail rods, described leg side is provided with connecting portion, limiting section, described connecting portion is relatively fixed with driven pedrail, described limiting section constitutes spacing cooperation with rail rods.
As preferably, described mainframe is provided with retractor device and includes being perpendicular to the expansion link of level ground.
As preferably, described retractor device also includes steering gear, is used for making that mainframe is unsettled to be turned to.
As preferably, bottom described expansion link, it is provided with point or flattening portion.
As preferably, the rail groove that described rail rods is axially arranged with, described rail groove constitutes sliding with limiting section and coordinates.
As preferably, described rail rods one end constitutes hinged cooperation with mainframe.
As preferably, described mainframe is provided with the pressing groove corresponding with drive.
As preferably, bottom described mainframe, it is provided with multiple pulley.
As preferably, described mainframe upper end is provided with the mounting groove for installing accessory.
As preferably, described leg end is connected with flat portion.
The invention has the beneficial effects as follows: control centre controls two, the inner side leg of mainframe one end based on ground, two legs in outside do according to the running orbit of driven pedrail and lift forward the action fallen, and now mainframe other end is that two, inner side leg lifts, the state that two legs in outside fall, the most repeatedly, the rock-steady structure that each leg point of the present invention is the most triangle, walking robot can be prevented effectively from the process of walking, cause due to crank toppling over, improve stability.
Accompanying drawing explanation
Accompanying drawing 1 is the structural representation of embodiment 1.
Accompanying drawing 2 is the schematic side view of embodiment 1.
Accompanying drawing 3 is the schematic side view of embodiment 2.
Accompanying drawing 4 is the schematic top plan view of embodiment 1.
Accompanying drawing 5 is the structural representation of leg.
Accompanying drawing 6 is the enlarged diagram of A in accompanying drawing 1.
1 mainframe, 2 legs, 21 connecting portions, 22 limiting sections, 3 rail rods, 31 rail grooves, 4 motors, 5 power transmission shafts, 6 caterpillar driving devices, 61 drives, 62 driven pedrails, 7 expansion links, 8 points, 9 flattening portions, 10 pressing groove, 11 pulleys, 12 mounting grooves, 13 flat portion, 14 control centres.
Detailed description of the invention
The following is the specific embodiment of the present invention and combine accompanying drawing, technical scheme is further described, but the present invention is not limited to these embodiments.
nullEmbodiment 1 as shown in Figure 1: a kind of eight foot walking robots，Including mainframe 1、Drive mechanism and multiple leg link mechanism，It is provided with control centre 14 in described mainframe 1，The operation by each leg link mechanism of transmission mechanism control of the described control centre 14，Described drive mechanism includes motor 4、Power transmission shaft 5 and eight mirror images are arranged at the caterpillar driving device 6 at mainframe 1 two ends，Described motor 4、Power transmission shaft 5、Caterpillar driving device 6 is connected by gear drive，Described caterpillar driving device 6 includes four drives 61 and driven pedrail 62，Multiple described leg link mechanisms all include leg 2 and rail rods 3，Described leg 2 side is provided with connecting portion 21、Limiting section 22，Described connecting portion 21 is relatively fixed with driven pedrail 62，Described limiting section 22 constitutes sliding with rail rods 3 and coordinates.Control centre 14 controls two, the inner side leg 2 of mainframe 1 one end based on ground, two legs 2 in outside do according to the running orbit of driven pedrail 62 and lift forward the action fallen, and now mainframe 1 other end is that two, inner side leg 2 lifts, the state that two legs 2 in outside fall, the most repeatedly, 2 rock-steady structures the most triangle of each leg of the present invention, walking robot can be prevented effectively from the process of walking, cause due to crank toppling over, improve stability.
Described mainframe 1 is provided with retractor device, the expansion link 7 of described retractor device is in contraction state in normal walking, and when this walking robot walks under obstacle road or mud state, expansion link 7 can stablize robot with auto-extending based in ground or insertion mud further, it is to avoid topples over to side.
Described retractor device includes steering gear, and when this walking robot needs to turn to, expansion link 7 stretches out based on ground thus raises mainframe 1, makes mainframe 1 be in vacant state, and recycling steering gear rotates mainframe 1 so that it is complete turning function.
It is provided with flattening portion 9 bottom described expansion link 7, can be according to the suitable position of the different choice of road conditions, as can be selected the flattening portion 9 that bottom area is bigger in position, level land, increase the contact area of expansion link 7 and ground, improve stability.
In embodiment 2 as shown in Figure 3, bottom described expansion link 7, it is provided with point 8, when walking is at mud environment, point 8, point 8 can be used to insert in mud according to the suitable position of the different choice of road conditions, improve the stability of mainframe 1.
The rail groove 31 that described rail rods 3 is axially arranged with, described rail groove 31 constitutes sliding with limiting section 22 and coordinates, utilize crank and rocker mechanism principle, the movement locus of leg 2 is by the connecting portion 21 that is connected with driven pedrail 62 and the control constituting both limiting sections 22 that sliding coordinates etc. with rail rods 3, thus drive leg 2 to do the back and forth movement of persistence, drive mainframe 1 to move ahead.
Described rail rods 3 one end constitutes hinged cooperation with mainframe 1, when normally walking in mud, it is also possible to the rail rods 3 of mainframe 1 one end be rotated up, thus drives corresponding leg link mechanism to be lifted up, it is to avoid limit the walking of robot.
Described mainframe 1 is provided with the pressing groove 10 corresponding with drive 61.Described mainframe 1 is provided with the pressing groove 10 corresponding with drive 61, driven pedrail 62 is loaded after three drives 61 are first installed in installation process, one end from pressing groove 10 enters the 4th drive 61 again, drive 61 is promoted to be displaced outwardly, driven pedrail 62 is made to be in impaction state, it is easy to integral installation, improves efficiency of assembling.
Multiple pulley 11 it is provided with so that this device is except walking freely in mud, it is also possible to freely walk in the land of plane bottom described mainframe 1.
Described mainframe 1 upper end is provided with the mounting groove 12 for installing accessory, and this mounting groove 12 can freely assemble some accessories of monitoring device, sprinkler etc.
Described leg 2 end is connected with flat portion 13, adds the contact area of leg 2 end and ground, improves the stability of mainframe 1.
Claims (10)
- null1. a foot walking robot，Including mainframe (1)、Drive mechanism and multiple leg link mechanism，It is characterized in that: in described mainframe (1), be provided with control centre (14)，The described control centre (14) operation by each leg link mechanism of transmission mechanism control，Described drive mechanism includes motor (4)、Power transmission shaft (5) and eight mirror images are arranged at the caterpillar driving device (6) at mainframe (1) two ends，Described motor (4)、Power transmission shaft (5)、Caterpillar driving device (6) composition is linked，Described caterpillar driving device (6) includes multiple drive (61) and driven pedrail (62)，Multiple described leg link mechanisms all include leg (2) and rail rods (3)，Described leg (2) side is provided with connecting portion (21)、Limiting section (22)，Described connecting portion (21) is relatively fixed with driven pedrail (62)，Described limiting section (22) constitutes spacing cooperation with rail rods (3).
- A kind of eight foot walking robots the most according to claim 1, it is characterised in that: described mainframe (1) is provided with retractor device and includes being perpendicular to the expansion link (7) of level ground.
- A kind of eight foot walking robots the most according to claim 2, it is characterised in that: described retractor device also includes steering gear, is used for making that mainframe (1) is unsettled to be turned to.
- A kind of eight foot walking robots the most according to claim 3, it is characterised in that: described expansion link (7) bottom is provided with point (8) or flattening portion (9).
- A kind of eight foot walking robots the most according to claim 1, it is characterised in that: the rail groove (31) that described rail rods (3) is axially arranged with, described rail groove (31) constitutes sliding with limiting section (22) and coordinates.
- A kind of eight foot walking robots, it is characterised in that: described rail rods (3) one end constitutes hinged cooperation with mainframe (1).
- A kind of eight foot walking robots the most according to claim 1, it is characterised in that: described mainframe (1) is provided with the pressing groove (10) corresponding with drive (61).
- A kind of eight foot walking robots the most according to claim 1, it is characterised in that: described mainframe (1) bottom is provided with multiple pulley (11).
- A kind of eight foot walking robots the most according to claim 1, it is characterised in that: described mainframe (1) upper end is provided with the mounting groove (12) for installing accessory.
- A kind of eight foot walking robots the most according to claim 1, it is characterised in that: described leg (2) end is connected with flat portion (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610267954.8A CN105857435B (en) | 2016-04-27 | 2016-04-27 | The sufficient walking robot of one kind eight |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610267954.8A CN105857435B (en) | 2016-04-27 | 2016-04-27 | The sufficient walking robot of one kind eight |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105857435A true CN105857435A (en) | 2016-08-17 |
| CN105857435B CN105857435B (en) | 2018-05-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610267954.8A Active CN105857435B (en) | 2016-04-27 | 2016-04-27 | The sufficient walking robot of one kind eight |
Country Status (1)
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| CN (1) | CN105857435B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110316276A (en) * | 2019-07-27 | 2019-10-11 | 南京蹑波物联网科技有限公司 | A kind of shape walking apparatus of bionical legged type robot |
| CN112388644A (en) * | 2020-09-24 | 2021-02-23 | 特斯联科技集团有限公司 | Foot type robot parking assisting device, foot type robot and parking method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06254780A (en) * | 1993-03-04 | 1994-09-13 | Takeshi Yanagisawa | Walking robot |
| JP2001239478A (en) * | 2000-02-28 | 2001-09-04 | Sony Corp | Leg type mobile robot and movable leg unit connecting structure for leg type mobile robot |
| CN101716961A (en) * | 2009-11-06 | 2010-06-02 | 北京理工大学 | Track-leg combined ground robot |
| CN103818492A (en) * | 2014-03-11 | 2014-05-28 | 北京交通大学 | Wheel and leg composite carrying robot |
| CN104228996A (en) * | 2014-09-26 | 2014-12-24 | 哈尔滨理工大学 | Double-power quadruped robot capable of walking on ramp |
| CN105216899A (en) * | 2015-09-30 | 2016-01-06 | 重庆交通大学 | Barrier-surpassing robot |
| CN205524563U (en) * | 2016-04-27 | 2016-08-31 | 浙江腾荣环保科技有限公司 | Eight sufficient walking robots |
-
2016
- 2016-04-27 CN CN201610267954.8A patent/CN105857435B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06254780A (en) * | 1993-03-04 | 1994-09-13 | Takeshi Yanagisawa | Walking robot |
| JP2001239478A (en) * | 2000-02-28 | 2001-09-04 | Sony Corp | Leg type mobile robot and movable leg unit connecting structure for leg type mobile robot |
| CN101716961A (en) * | 2009-11-06 | 2010-06-02 | 北京理工大学 | Track-leg combined ground robot |
| CN103818492A (en) * | 2014-03-11 | 2014-05-28 | 北京交通大学 | Wheel and leg composite carrying robot |
| CN104228996A (en) * | 2014-09-26 | 2014-12-24 | 哈尔滨理工大学 | Double-power quadruped robot capable of walking on ramp |
| CN105216899A (en) * | 2015-09-30 | 2016-01-06 | 重庆交通大学 | Barrier-surpassing robot |
| CN205524563U (en) * | 2016-04-27 | 2016-08-31 | 浙江腾荣环保科技有限公司 | Eight sufficient walking robots |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110316276A (en) * | 2019-07-27 | 2019-10-11 | 南京蹑波物联网科技有限公司 | A kind of shape walking apparatus of bionical legged type robot |
| CN112388644A (en) * | 2020-09-24 | 2021-02-23 | 特斯联科技集团有限公司 | Foot type robot parking assisting device, foot type robot and parking method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105857435B (en) | 2018-05-15 |
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Effective date of registration: 20230222 Address after: 361000 Building E, No. 1, Haijing North Road, Xiamen Area, China (Fujian) Pilot Free Trade Zone, Haicang District, Xiamen City, Fujian Province Patentee after: XIAMEN DNAKE INTELLIGENT TECHNOLOGY CO.,LTD. Address before: 325802 Building A, Huadian Trade City, Longgang Town, Cangnan County, Wenzhou City, Zhejiang Province Patentee before: ZHEJIANG TENGRONG ENVIRONMENTAL PROTECTION TECHNOLOGY Co.,Ltd. |