CN106005087A

CN106005087A - Hexapod robot

Info

Publication number: CN106005087A
Application number: CN201610475117.4A
Authority: CN
Inventors: 李玉婷
Original assignee: Individual
Current assignee: Individual
Priority date: 2016-06-25
Filing date: 2016-06-25
Publication date: 2016-10-12

Abstract

The invention discloses a hexapod robot. The hexapod robot comprises a middle connecting part and six mechanical pods connected with the middle connecting part, wherein each mechanical pod comprises a first leg part connected with the middle connecting part, the first leg part is connected with a second leg part through a first joint part, the second leg pat is connected with a third leg part through a second joint part, and the third leg part makes contact with the ground; each first leg part comprises a first casing, a second driving shaft is arranged in the first casing and connected with a second driving mechanism through a second driving hole, the second driving mechanism is in driving connection with the corresponding first joint part, a bulging ring corresponding to the second driving hole is arranged on the first casing, and the second driving hole is arranged in the bulging ring. The robot is simple in structure and convenient to control.

Description

A kind of Hexapod Robot

Technical field

The present invention relates to robot field, in particular, relate to a kind of Hexapod Robot.

Background technology

Wheeled robot and caterpillar type robot can show good motion on smooth ground Ability, but on ground non-flat forms, non-structured, the wheeled and motion energy of caterpillar type robot Power cannot well play, and even some landform all cannot be walked.Legged type robot particularly six foot Robot can be good at overcoming wheeled and caterpillar type robot disadvantages mentioned above, it is possible to realize complicated, Non-structured ground environment realizes stably walk.Existing Hexapod Robot to realize complexity Action, its overall structure needs complex.

Summary of the invention

The technical problem to be solved is to provide the Hexapod Robot of a kind of simple in construction

It is an object of the invention to be achieved through the following technical solutions:

A kind of Hexapod Robot, six the machinery foots being connected with middle interconnecting piece including middle interconnecting piece, Described machinery foot includes the first leg being connected with middle interconnecting piece, and described first leg is by the first pass Joint portion connects the second leg, and described second leg connects the 3rd leg by second joint portion, and described the Three legs contact with ground；

Described first leg includes that the first housing, described first housing and the first joint portion connect one end Side is provided with the second drive hole；

Being provided with the second drive shaft in described first housing, described second drive shaft is by the second drive hole even Connect the second drive mechanism, described second drive mechanism drive connection the first joint portion；

Corresponding second drive hole of described first housing is provided with prominent circle, and described second drive hole is arranged on prominent In going too far,

Described second drive mechanism includes the second annulus, second fixes bolt and the second axle sleeve, and described Two axle sleeves include outer end and socket part, and described outer end diameter is more than socket part, described second bolt The second drive shaft is snapped in through outer end and socket part；

Described first joint portion is socketed on the socket part of the second axle sleeve, and described second annulus is socketed in It is separately positioned on the first joint portion both sides, institute on the socket part of two axle sleeves and with the outer end of the second axle sleeve The prominent circle stated on the first housing props up the second annulus.

Further, described second drive shaft includes the first split axle, the setting being arranged in the first housing The second split axle portion in prominent circle, described first split axle and the second split axle be provided with gear, and described One split axle portion is connected by the first series connection portion with the second split axle portion, is provided with outside described second split axle portion Two series connection portions, described second series connection portion snaps in the second drive mechanism.

Further, there is socket through hole, described socket through-hole aperture big second in the middle of described socket part The diameter of bolt, described second series connection portion snaps between socket part and the second bolt.

Further, described socket part includes cylindrical outer and cylindrical shape internal layer, in cylindrical shape internal layer Between for socket through hole, between cylindrical outer and cylindrical shape internal layer by socket reinforcement connect.

Strengthen the intensity of socket part.

Further, described outer end outer surface intermediate recess forms the second depressed part, described second recessed Being provided with, in the middle of the portion of falling into, the socket opening that the second bolt passes, it is recessed that the end of described second bolt covers second The portion of falling into.

Due to the fact that the second drive shaft connects the second drive mechanism, the second drive mechanism includes the second circle Ring, second fixing bolt and the second axle sleeve, the second axle sleeve includes outer end and socket part, the second bolt Snap in the second drive shaft through outer end and socket part, the first joint portion is socketed in the socket of the second axle sleeve In portion, the second annulus is socketed on the socket part of the second axle sleeve and sets respectively with the outer end of the second axle sleeve Putting in the first joint portion both sides, the prominent circle on the first housing props up the second annulus, well fixes One joint portion, drives the first joint portion to move by the second drive mechanism, simple for structure, convenient control.

Accompanying drawing explanation

Fig. 1 is a kind of Hexapod Robot side schematic view of the embodiment of the present invention；

Fig. 2 is a kind of Hexapod Robot schematic diagram of the embodiment of the present invention；

Fig. 3 is a kind of Hexapod Robot middle interconnecting piece schematic diagram of the embodiment of the present invention；

Fig. 4 is a kind of another schematic diagram of Hexapod Robot middle interconnecting piece of the embodiment of the present invention；

Fig. 5 is a kind of Hexapod Robot connecting plate schematic diagram of the embodiment of the present invention；

Fig. 6 is a kind of Hexapod Robot machinery foot schematic diagram of the embodiment of the present invention；

Fig. 7 is a kind of Hexapod Robot machinery another schematic diagram of foot of the embodiment of the present invention；

Fig. 8 is a kind of Hexapod Robot machinery foot the first leg and first joint portion of the embodiment of the present invention Schematic diagram；

Fig. 9 is a kind of Hexapod Robot machinery foot first leg schematic diagram of the embodiment of the present invention；

Figure 10 is a kind of Hexapod Robot machinery foot another schematic diagram of the first leg of the embodiment of the present invention；

Figure 11 is a kind of Hexapod Robot machinery foot first drive shaft schematic diagram of the embodiment of the present invention；

Figure 12 is a kind of Hexapod Robot machinery foot first driving dish schematic diagram of the embodiment of the present invention；

Figure 13 is a kind of Hexapod Robot machinery foot second drive shaft schematic diagram of the embodiment of the present invention；

Figure 14 is a kind of Hexapod Robot machinery foot second drive mechanism schematic diagram of the embodiment of the present invention；

Figure 15 is a kind of Hexapod Robot machinery foot first adaptor schematic diagram of the embodiment of the present invention；

Figure 16 is a kind of Hexapod Robot machinery another signal of foot the first adaptor of the embodiment of the present invention Figure；

Figure 17 is a kind of Hexapod Robot machinery foot the second leg and the second joint of the embodiment of the present invention Portion's schematic diagram；

Figure 18 is a kind of Hexapod Robot machinery foot the 3rd leg schematic diagram of the embodiment of the present invention；

Figure 19 is a kind of Hexapod Robot machinery foot walking end view of the embodiment of the present invention.

Wherein: 1, middle interconnecting piece, 11, base plate, 12, upper plate, 13, connecting hole, 14, One breach, 15, weight reduction openings, 16, linking arm, the 161, second breach, 17, U-shaped protuberance, 171, base, 172, side, the 173, first fixing hole, 18, connect post, 19, connecting plate, 191, Protuberance, the 192, first lightening hole, the 193, second lightening hole, 2, machinery foot, the 3, first leg, 31, the first housing, 311, fixed salient, 312, perforation, the 313, first lobe, 314, Protruding block, 32, control mouth, the 33, first drive hole, the 34, second drive hole, 35, first drive Axle, 351, foundation ring portion, 352, middle shaft part, 353, clamping projection, the 36, first drive mechanism, 361, First driving dish, 3611, transverse concave groove, 362, driving dish opening, the 363, second fixing hole, 364, First depressed part, 365, first annular projection, the 366, second annular protrusion, the 367, first groove, 368, first strengthens projection, and 369, first fixes bolt, the 37, second drive shaft, 371, first point Axle, the 372, first series connection portion connects, the 373, second split axle portion, the 374, second series connection portion, and 38, the Two drive mechanisms, the 381, second annulus, 382, second fixes bolt, the 383, second axle sleeve, 384, Outer end, 385, socket part, 386, socket through hole, 39, prominent circle, the 4, first joint portion, 41, First adaptor, 42, intermediate support plate, 421, card interface, the 422, the 3rd breach, 423, snap fit, 424, the first switching opening, the 425, second switching opening, the 426, first reinforcement, 427, second Groove, 428, second strengthens projection, and 43, clamping limb, the 431, the 4th breach, the 44, second switching Part, the 5, second leg, 6, second joint portion, the 61, the 3rd adaptor, the 62, the 3rd keyset, 63, fixed lobe, the 64, the 4th adaptor, the 7, the 3rd leg, the 71, the 3rd control leg, 72, Walking plate, 721, first side, 722, second side, the 723, the 3rd side, the 724, the 4th side Limit, the 725, the 5th side, the 726, the 6th side, 727, heptalateral limit, the 728, the 8th side, 73, walking fixed part, 74, walking grip block, 741, grasp opening, 742, walking jut, 75, clamping hole, 8, walking end, 81, end side, 811, fixing projection, 82, at the bottom of end Limit, 821, outer side edges, 822, inner side edge, 823, left side, 824, right edge, 825, recess, 83, slip-proofing device, 84, Y shape connecting plate.

Detailed description of the invention

In describing the invention, it is to be understood that term " " center ", " laterally ", " on ", D score, The orientation of the instruction such as "left", "right", " vertically ", " level ", " top ", " end ", " interior ", " outward " or position Relation of putting, for based on orientation shown in the drawings or position relationship, is for only for ease of the description present invention and Jian Change and describe rather than indicate or imply that the device of indication or element must have specific orientation, Yi Te Fixed azimuth configuration and operation, be therefore not considered as limiting the invention.Additionally, term " first ", " second " is only used for describing purpose, and it is not intended that indicate or imply relative importance or implicit finger The quantity of bright indicated technical characteristic.Thus, define " first ", the feature of " second " can be bright Show or implicitly include one or more this feature.In describing the invention, unless otherwise Illustrating, " multiple " are meant that two or more.It addition, term " includes " and any deformation, It is intended to cover non-exclusive comprising.

In describing the invention, it should be noted that unless otherwise clearly defined and limited, art Language " is installed ", " being connected ", " connection " should be interpreted broadly, and connects for example, it may be fixing, it is possible to Being to removably connect, or it is integrally connected；Can be to be mechanically connected, it is also possible to be electrical connection；Can Being to be joined directly together, it is also possible to be indirectly connected to by intermediary, can be the company of two element internals Logical.For the ordinary skill in the art, can understand that above-mentioned term is at this with concrete condition Concrete meaning in bright.

The invention will be further described with preferred embodiment below in conjunction with the accompanying drawings.

As shown in Fig. 1 to Figure 19, a kind of Hexapod Robot, connect with centre including middle interconnecting piece 1 Connecing six machinery foots 2 that portion 1 connects, described middle interconnecting piece 1 is rectangle, described middle connection Portion 1 is provided with six linking arms 16 being connected with machinery foot 2, about described middle interconnecting piece 1 two ends Being respectively arranged with a linking arm 16 to be connected with a machinery foot 2, the described middle both sides of middle interconnecting piece 1 are respectively arranged with One linking arm 16 connects a machinery foot 2,

Described middle interconnecting piece 1 includes base plate 11 and upper plate 12, in described base plate 11 and upper plate 12 Between be provided with connection post 18, described base plate 11 and upper plate 12 two ends respectively by connect post 18 connect, Described base plate 11 and upper plate 12 are respectively arranged at two ends with two connecting holes 13, connect post 18 two ends and pass Connecting hole 13, connects post 18 mid diameter more than connecting post 18 two ends, also greater than connecting hole 13, even Connect post 18 two ends to be fixed by nut after base plate 11 and upper plate 12, connect post 18 by upper plate 12 And base plate 11 is fixing and between there are space, described base plate 11 and upper plate 12 two ends respectively by connecting Plate 19 connects, and base plate 11 and upper plate 12 are respectively arranged at two ends with two the first breach 14, connecting plate 19 Two ends are provided with two protuberances 191 of corresponding two the first breach 14, and protuberance 191 snaps in first and lacks In mouth 14, connecting portion support baseboard 11 and upper plate 12 make it stable and have enough spaces, connect Being provided with multiple lightening hole in the middle of plate 19, described lightening hole includes that being positioned at first in the middle of connecting plate 19 subtracts Repeated hole 192, multiple second lightening holes 193 arranged around the first lightening hole 192, the first lightening hole 192 diameters are more than the second lightening hole 193 diameter.

The upper plate 12 of described middle interconnecting piece 1 and base plate 11 are respectively arranged with a U-shaped protuberance 17 and are formed Linking arm 16, described U-shaped protuberance 17 includes base 171 and two sides being connected with base 171 Limit 172, described base 171 and side 172 are provided with the first fixing hole 173, are used for fixing machinery foot 2, described base 171 is provided with two the first fixing holes 173 of symmetry or is provided with multiple first fixing hole 173, side 172 is provided with multiple first fixing hole 173, multiple first fixing holes 173 of side 172 Become string arrangement or become two row arrangements or multiple row arrangement.

It is provided with multiple weight reduction openings 15 in the middle of upper plate 12 and base plate 11, reduces upper plate 12 and base plate 11 Weight.

Described machinery foot 2 includes the first leg 3 being connected with middle interconnecting piece 1, described first leg 3 connect the second leg 5 by the first joint portion 4, and described second leg 5 is by second joint portion 6 Connecting the 3rd leg 7, described 3rd leg 7 contacts with ground.

Described first leg 3 includes that the first housing 31, described first housing 31 are stuck in linking arm 16, Described first housing 31 upper and lower is near middle interconnecting piece 1 side and the left and right sides outwardly shape Becoming fixed salient 311, described fixed salient 311 is arranged on middle interconnecting piece 1 upper plate 12 and the end Between plate 11, described first housing 31 top and the bottom fixed salient near machinery foot 2 sides On the base 171 of the 311 U-shaped protuberances 17 being separately fixed at linking arm 16 by screw, described The fixed salient 311 of the left and right side 824 of the first housing 31 upper and lower is solid respectively by screw It is scheduled on the side of U-shaped protuberance 17 of linking arm 16.

Described fixed salient 311 is provided with and the first corresponding wearing of fixing hole 173 on linking arm 16 Hole 312, then by bolt through the first fixing hole 173 and perforation 312, spiral shell is passed through at bolt two ends respectively Female fixing, it is also possible to the first fixing hole 173 and perforation 312 wherein one or two be screw hole, so Fixed by screw or bolt afterwards.

The described middle setting tool of linking arm 16 has the second breach 161, even in the middle of described first housing 31 Vacating in connecing the second breach 161 of arm 16, the centre of described first housing 31 lower surface is provided with control Mouth 32, the upper surface of described first housing 31 is provided with convex with what linking arm 16 second breach 161 coincide The first lobe 313 risen, the lower surface of described first housing 31 sets near middle interconnecting piece 1 side There is second lobe on the base 171 of the U-shaped protuberance 17 propping up linking arm 16, described second convex The portion of rising includes two protruding blocks 314.

What described first housing 31 was connected one end with the first joint portion 4 is respectively arranged on the left side and the right side first Drive hole 33 and the second drive hole 34.

Being provided with the first drive shaft 35 in described first housing 31, described first drive shaft 35 is by first Drive hole 33 connects the first drive mechanism 36.Described first drive shaft 35 includes snapping in the first housing 31 The middle shaft part 352 that internal foundation ring portion 351 is connected with foundation ring portion 351, foundation ring portion 351 diameter is more than Middle shaft part 352, middle shaft part 352 is middle for hollow cylinder, the annular outer end of middle shaft part 352 Face is provided with a clamping projection 353.Described first drive mechanism 36 includes and the first drive shaft 35 Connect the first driving dish 361, first fix bolt 369, be provided with in the middle of described first driving dish 361 and drive Moving plate opening 362, described driving dish opening 362 includes that centre allows first to fix what bolt 369 passed Main opening, described driving dish opening 362 also includes the secondary opening coordinated with clamping projection 353, described Secondary opening connects with main opening.

First driving dish 361 periphery is provided with and multiple is connected the second fixing hole 363 with the first joint portion 4. First driving dish 361 outer surface intermediate recess is formed and accommodates first and fix the first recessed of bolt 369 end Falling into portion 364, first fixes bolt 369 end covers the first depressed part 364, the first driving dish 361 The inwardly protruding formation of outward flange first annular protruding 365,

Being provided with middle opening in the middle of described first driving dish 361 inner surface, described middle opening periphery sets There is inwardly protruded second annular protrusion 366, first annular protruding 365 and second annular protrusion 366 Between form the first groove 367, described second fixing hole 363 is arranged in the first groove 367, institute Stating the second fixing hole 363 periphery and be provided with inwardly protruded first reinforcement protruding 368, first strengthens projection 368 can be the shape such as hexagon, circle, and first strengthens protruding 368 two ends and first annular projection 365, the second annular protrusion 366 connects, or first strengthen protruding 368 limits be first annular protruding 365, Second annular protrusion 366, saves space material, strengthens the intensity of the first reinforcement protruding 368.First Corresponding time of driving dish 361 edge opening is provided with a transverse concave groove 3611, the first driving dish 361 edge At transverse concave groove 3611 symmetry direction, two transverse concave grooves 3611 are set.First fixes bolt 369 First driving dish 361 and the first drive shaft 35 are fixed.

Being provided with the second drive shaft 37 in described first housing 31, described second drive shaft 37 is by second Drive hole 34 connects the second drive mechanism 38.Corresponding second drive hole 34 of described first housing 31 sets Prominent circle 39, described second drive hole 34 is had to be arranged in prominent circle 39.Described second drive shaft 37 Including the first split axle 371 being arranged in the first housing 31, it is arranged on second point in prominent circle 39 Axle portion 373, the first split axle 371 and the second split axle be provided with gear, the first split axle 371 and second Split axle portion 373 connects 372 by the first series connection portion, is provided with the second series connection outside the second split axle portion 373 Portion 374, the second series connection portion 374 snaps in the second drive mechanism 38.Second drive mechanism 38 includes Second annulus 381, second fixing bolt 382 and the second axle sleeve 383, described second axle sleeve 383 includes Outer end 384 and socket part 385, described outer end 384 diameter be more than socket part 385, described second Bolt snaps in the second drive shaft 37 through outer end 384 and socket part 385.Described socket part 385 is Cylinder, has socket through hole 386, big second spiral shell in socket through hole 386 aperture in the middle of socket part 385 The diameter of bolt, the second series connection portion 374 snaps between socket part 385 and the second bolt.Described socket part 385 include in the middle of cylindrical outer and cylindrical shape internal layer, cylindrical shape internal layer for socket through hole 386, cylinder Connected by socket reinforcement outside shape and between cylindrical shape internal layer.Outer end 384 outer surface middle concave Fall into and form the second depressed part, in the middle of the second depressed part, be provided with the socket opening that the second bolt passes, second The end of bolt covers the second depressed part.First joint portion 4 is socketed in the socket part of the second axle sleeve 383 On 385, the second annulus 381 be socketed on the socket part 385 of the second axle sleeve 383 and with the second axle sleeve The outer end 384 of 383 is separately positioned on the first joint portion 4 both sides, the prominent circle on the first housing 31 39 prop up the second annulus 381.

First joint portion 4 includes that the first adaptor 41, described first adaptor 41 include intermediate supports Plate 42, an intermediate support plate 42 two ends protruding clamping limb 43 respectively, clamping limb 43 is with middle Gripper shoe 42 becomes 90 degree, and intermediate support plate 42 is provided with multiple switching connecting hole 13, and switching connects Hole 13 is evenly distributed on intermediate support plate 42, has one big first to open in the middle of intermediate support plate 42 Mouthful, it being provided with card interface 421 in the middle of intermediate support plate 42 two ends, intermediate support plate 42 sets in the middle of two ends There are the 3rd breach 422, two clamping limbs 43 to be connected in the middle of one end with intermediate support plate 42 and also are provided with Four breach 431, the 3rd breach 422 connects with the 4th breach 431, is provided with in the middle of the 3rd breach 422 Snap fit 423, the 3rd breach 422 by breach base and two notch side skirt around being formed, snap fit 423 From which the edge of a breach side to another notch side edge extend, snap fit 423 and another Leaving gap between breach side, snap fit 423 end continues formation snap fit 423 in the 3rd breach 422 Hook part.Same direction, two snap fit 423 hook parts on intermediate support plate 42.3rd breach 422 The place connected with the 3rd breach 422 is more than the 3rd breach 422.Clamping limb 43 end is circular arc, The first switching opening 424, the first switching opening 424 periphery it is provided with in the middle of the arc end part of clamping limb 43 It is provided with multiple second switching opening 425.

Second switching opening 425 of one clamping limb 43 of the first adaptor 41 of the first joint portion 4 Fix with the second fixing hole 363 of the first driving dish 361 periphery of the first drive mechanism 36 and be connected, will This clamping limb 43 is connected with the first drive mechanism 36.First adaptor 41 of the first joint portion 4 another First switching opening 424 of one clamping limb 43 is socketed on the socket part 385 of the second axle sleeve 383, And second drive mechanism 38 the second annulus 381 and the outer end 384 of the second axle sleeve 383 from both sides card Live, thus this clamping limb 43 is connected with the second drive mechanism 38.

Intermediate support plate 42 back side of the first adaptor 41 is provided with a plurality of first reinforcement 426, a plurality of First reinforcement 426 defines a plurality of second groove 427, and switching connecting hole 13 is arranged on the second groove In 427, switching connecting hole 13 periphery is provided with the second reinforcement projection 428, and second strengthens protruding 428 shapes Becoming regular polygon or the circle such as hexagon, the first adaptor 41 first open circumferential broad in the middle also is provided with First opening strengthens projection.

First joint portion 4 also includes the second adaptor 44, the second adaptor 44 and the first adaptor 41 Structure is the same, becomes 90 degree and be connected between the second adaptor 44 with the first adaptor 41, the second adaptor 44 by the switching connecting hole 13 on intermediate support plate 42 and the first fixing connection of adaptor 41.

The clamping limb 43 of the second adaptor 44 is connected with the second leg 5, the second leg 5 and the first lower limb Portion 3 structure is the same.

Second joint portion 6 includes the 3rd adaptor 61 and the 4th adaptor 64, and the 3rd adaptor 61 wraps Include the 3rd keyset 62, in the middle of the 3rd keyset 62, be provided with big opening, on the 3rd keyset 62 all Even being provided with multiple 3rd transfer hole, the 3rd keyset 62 back side is provided with a plurality of 3rd reinforcement, and a plurality of Three reinforcements define a plurality of 3rd groove, and the 3rd transfer hole is arranged in the 3rd groove, the 3rd switching Hole periphery is provided with the 3rd reinforcement projection, and the 3rd strengthens convexing to form hexagon or circle, the 3rd keyset 62 open circumferential broad in the middle also are provided with the 3rd opening and strengthen projection.3rd both sides, keyset 62 two ends It is provided with in the middle of fixed lobe 63, fixed lobe 63 and is provided with the hole being connected with the second leg 5.Two It is provided with snap fit between fixed lobe 63.

4th adaptor 64 has the intermediate support plate 42 of similar first adaptor 41, the 4th adaptor The intermediate support plate 42 of 64 is fixing with the 3rd keyset 62 of the 3rd adaptor 61 to be connected, the 4th turn The clamping limb 43 of fitting 64 is angled with intermediate support plate 42, as 30 degree, 45 degree, 60 Degree etc., can arrange different angles according to demand.

3rd leg 7 includes the 3rd control leg 71 being connected with the 4th adaptor 64, and the 3rd controls Leg 71 uses the structure of similar first leg 3, the 3rd both sides controlling leg 71 to fix one respectively Block walking plate 72.Walking plate 72 includes controlling the walking fixed part 73 that leg 71 is connected, OK with the 3rd Walk fixed part 73 include with the 3rd control the fixing first side 721 of leg 71, second side 722, 3rd side 723, first side 721 is provided with multiple fixing hole and the 3rd and controls the side of leg 71 Fixed salient 311 fix, second side 722 is provided with two fixing holes and the 3rd control leg The end fixed salient 311 of 71, the 3rd side 723 is provided with one or more fixing hole and the 3rd The fixed salient 311 of another side controlling leg 71 is fixed.First side 721, second side 722 and the 3rd side 723 form a U-lag, second side 722 is U-lag base, first Side 721 and the 3rd side 723 are U-lag side.

First side 721 extends to the inclination of direction, second side 722 and forms four side 724, and the 3rd Side 723 tilts to extend formation the 5th side 725, four side 724 to direction, second side 722 Parallel with the 5th side 725, four side 724 to the five side 725 is long, four side 724 to Lower inclination extends and forms the 6th side 726, and downward-sloping extension of the 5th side 725 forms heptalateral limit 727, the 6th side 726 angle of inclination is different from angle of inclination, heptalateral limit 727, the 6th side 726 Moving closer to heptalateral limit 727, the 6th side 726 and junction, heptalateral limit 727 form walking Grip block 74.

Four side 724 and the 5th side 725 both sides are respectively by second side 722 and the 8th side 728 connect, and the 5th side 725 is shorter, four side 724, second side 722 and the 8th side 728 surround a triangle.8th side the 728, the 6th side 726 and heptalateral limit 727 surround one Individual triangle.Clamping hole 75 it is provided with between four side 724 and the 6th side 726.

Grasp opening 741, walking grip block 74 and the 6th side 726 it is provided with in the middle of walking grip block 74 Junction is provided with clamping hole 75, and walking grip block 74 lower end outwardly convex forms walking jut 742, Walking jut 742 is provided with clamping hole 75, is provided with walking between two pieces of walking grip block 74 ends End 8, walking end 8 includes two parallel end sides 81, and end side 81 is provided with and snaps in The fixing projection 811 of grasp opening 741, end side 81 includes the both sides that thickness is different, end side Limit 81 inner thickness is less than outside end side 81, by base, end 82 outside end side 81 Connecting, above-mentioned three fix with bolt between clamping hole 75, both can fix two walking grip blocks 74, it is also possible to walking end 8 is fixed.

Base, end 82 includes outer side edges 821, inner side edge 822, left side 823 and right edge 824, It is provided with recess 825 in the middle of the outer side edges 821 of base, end 82, in recess 825, is provided with slip-proofing device 83, Recess 825 is circular, and slip-proofing device 83 one end snaps in circular recess 825, and the other end is hemisphere, Slip-proofing device 83 can use the soft materials such as rubber, plastic cement, silica gel, slip-proofing device 83 outer face Do anti-skidding process, as frosted processes, increases anti-slip veins, damping, anti-skidding effect can be played.Outward Side 821 length is less than inner side edge 822, and left side 823 and right edge 824 are connected to outside Limit 821 and inner side edge 822 two ends, base, end 82 is shaped like eliminating the arrow-shaped of arrow end.In Side 822 two ends exceed end side 81, block the end of walking grip block 74, end beyond part The side that the thickness on base, portion 82 is thicker with end side 81 thickness is identical, and base, end 82 is provided with One or more damping through holes are such as 1,2,3,5 etc., logical inside end side 81 Crossing Y shape connecting plate 84 to connect, Y shape connecting plate 84 two ends connect two end sides 81 respectively, the Base, three-terminal link end 82.

First leg the 3, second leg 5 and the 3rd leg 7 side are designed with controlling mouth, convenient control Hexapod Robot is walked, and controls mouth and includes that two sons control mouth, can be used to control the first driving respectively Rotating shaft and the second drive shaft carry out the motion of equidirectional or different directions.

Above content is that to combine concrete preferred implementation made for the present invention the most specifically Bright, it is impossible to assert the present invention be embodied as be confined to these explanations.For technology belonging to the present invention For the those of ordinary skill in field, without departing from the inventive concept of the premise, it is also possible to if making Dry simple deduction or replace, all should be considered as belonging to protection scope of the present invention.

Claims

1. a Hexapod Robot, it is characterised in that include middle interconnecting piece and middle interconnecting piece Six the machinery foots connected, described machinery foot includes the first leg being connected with middle interconnecting piece, described First leg connects the second leg by the first joint portion, and described second leg is by second joint portion even Connecing the 3rd leg, described 3rd leg contacts with ground；

A kind of Hexapod Robot the most according to claim 1, it is characterised in that described second Drive shaft includes the first split axle being arranged in the first housing, the second split axle portion being arranged in prominent circle, Described first split axle and the second split axle are provided with gear, and described first split axle portion passes through with the second split axle portion First series connection portion connects, and is provided with the second series connection portion, described second series connection portion outside described second split axle portion Snap in the second drive mechanism.

A kind of Hexapod Robot the most according to claim 2, it is characterised in that described socket There is in the middle of portion socket through hole, the diameter of big second bolt of described socket through-hole aperture, described second string Connection portion snaps between socket part and the second bolt.

A kind of Hexapod Robot the most according to claim 3, it is characterised in that described socket Portion includes in the middle of cylindrical outer and cylindrical shape internal layer, cylindrical shape internal layer for being socketed through hole, outside cylindrical shape Connected by socket reinforcement between side and cylindrical shape internal layer.

A kind of Hexapod Robot the most according to claim 1, it is characterised in that described outer end Portion's outer surface intermediate recess forms the second depressed part, is provided with the second bolt and wears in the middle of described second depressed part The socket opening crossed, the end of described second bolt covers the second depressed part.