CN107933736A - multi-foot robot - Google Patents
multi-foot robot Download PDFInfo
- Publication number
- CN107933736A CN107933736A CN201711287895.1A CN201711287895A CN107933736A CN 107933736 A CN107933736 A CN 107933736A CN 201711287895 A CN201711287895 A CN 201711287895A CN 107933736 A CN107933736 A CN 107933736A
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- CN
- China
- Prior art keywords
- foot
- machinery
- machinery foot
- group
- main body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
Abstract
Multi-foot robot provided by the invention includes main body, a plurality of mechanical foot, microprocessor, accessory power supply, first resistor device and second resistance device, a plurality of machinery foot is detachably connected with main body, microprocessor, accessory power supply, first resistor device are arranged at the inside of main body, second resistance device is both provided with every mechanical foot in a plurality of machinery foot, accessory power supply is connected by the first I/O port of first resistor device and microprocessor, and the first I/O port is grounded by second resistance device.When certain in a plurality of mechanical foot of multi-foot robot separates with agent structure, microprocessor can immediately be learnt and adjust the motion morphology of remaining several machinery foot, multi-foot robot is preferably moved so as to adapt to the change of mechanical foot, highly shortened the limitation suffered by the scope of activities of robot.
Description
Technical field
The present invention relates to robot field, in particular to a kind of multi-foot robot.
Background technology
In moving process, the mode rotated often through roller, crawler belt is moved, and works as robot for existing robot
Roller or crawler belt when breaking down, this robot tends not to be moved again so that the playground of robot is subject to
Larger limitation.
The content of the invention
In view of this, an embodiment of the present invention provides a kind of multi-foot robot.
To achieve the above object, an embodiment of the present invention provides a kind of multi-foot robot, the multi-foot robot to include：It is main
Body, a plurality of mechanical foot, microprocessor, accessory power supply, first resistor device and second resistance device；The a plurality of machinery foot is and institute
State main body to be detachably connected, the microprocessor, accessory power supply, first resistor device may be contained within the inside of the main body, described
Second resistance device is both provided with every mechanical foot in a plurality of machinery foot；The accessory power supply by the first resistor device with
The first I/O port connection of the microprocessor, first I/O port are grounded by the second resistance device.
In a possible design, every machinery foot of a plurality of machinery foot includes the first sub- joint, the second son
Joint and the 3rd sub- joint, the first sub- joint are connected with the described second sub- articulation, the second sub- joint and institute
State the 3rd sub- articulation connection.
First sub- joint is connected with the second sub- articulation, and the second sub- joint is connected with the 3rd sub- articulation, a plurality of machine
Every machinery foot of tool foot is moved by way of the first sub- joint, the second sub- joint and the 3rd sub- articulation connection
It is dynamic.
In a possible design, every machinery foot of a plurality of machinery foot further includes the first steering engine and second
Steering engine, first steering engine are arranged between the described first sub- joint and the second sub- joint, and second steering engine is arranged on described
Second sub- joint and the 3rd is between joint.
First steering engine can not stop to change the angle in the first sub- joint or the second sub- joint, and by the first sub- joint or the
Two sub- joints are fixed with any angle.Similarly, the second steering engine can not stop to change the angle in the second sub- joint or the 3rd sub- joint,
And the second sub- joint or the 3rd sub- joint are fixed with any angle.
In a possible design, a plurality of machinery foot includes six mechanical foots, and the six machinery foot uniformly divides
Cloth is around the main body.
Six machinery foot is evenly distributed on around main body, when one in six legs or two separate with main body, this
Multi-foot robot still preferably can play the role of support to main body.
In a possible design, six articles of machinery foot includes the first machinery foot, the second machinery foot, the 3rd machinery
Sufficient, the 4th machinery foot, the 5th machinery are enough and the 6th mechanical foot, the described first mechanical foot, the second machinery are sufficient, the 3rd machinery is sufficient,
4th machinery foot, the 5th machinery are enough and the 6th machinery foot is distributed in around the main body along clockwise direction.
Six articles of machinery foots specifically include the first machinery foot, the second machinery foot, the 3rd machinery foot, the 4th machinery foot, the 5th machine
Tool be enough and the 6th machinery foot, it is above-mentioned in it is each machinery foot may each comprise three sub- joints and two steering engines.
In a possible design, when the described first machinery foot is disconnected with the main body, the 6th machinery foot is
One group, the second machinery foot, the 4th machinery foot are one group, and the 3rd machinery foot, the 5th machinery foot are one group, three groups of machineries
Sufficient alternating movement；When the described second machinery foot is disconnected with the main body, the first machinery foot, the 4th machinery foot are one group,
3rd machinery foot, the 6th machinery foot are one group, the sufficient alternating movement of two groups of machineries；When the described 3rd machinery foot is disconnected with the main body
When, the 4th machinery foot is one group, and the second machinery foot, the 6th machinery foot are one group, the first machinery foot, the 5th machine
Tool is one group enough, the sufficient alternating movement of three groups of machineries；When the described 4th machinery foot is disconnected with the main body, the 3rd machinery foot
For one group, the second machinery foot, the 6th machinery foot are one group, and the first machinery foot, the 5th machinery foot are one group, three groups of machines
Tool foot alternating movement；When the described 5th machinery foot is disconnected with the main body, the first machinery foot, the 4th machinery foot are one
Group, the 3rd machinery foot, the 6th machinery foot are one group, the sufficient alternating movement of two groups of machineries；When the described 6th machinery foot and the main body
During disconnection, the first machinery foot is one group, and the second machinery foot, the 4th machinery foot are one group, the 3rd machinery foot, the
Five machinery foots are one group, the sufficient alternating movement of three groups of machineries.
When a machinery foot in six mechanical foots is disconnected with main body, remaining machinery foot can preferably support this more
The movement of biped robot.
In a possible design, when the adjacent two machinery foot in described six mechanical foots is disconnected with the main body
When, it is left in four mechanical foots, spaced two machinery foots are one group, the sufficient alternating movement of two groups of machineries.
When the adjacent two machinery foot in six mechanical foots is disconnected with main body, in remaining four mechanical foots, with alternate
Every mode make two groups of sufficient alternating movements of machinery.
In a possible design, the resistance value of the first resistor device is 10K Ω.
The resistance value of first resistor device can be 10K Ω, and certainly, the resistance value of first resistor device can also be other numerical value,
It is limitation to the application that the resistance value of first resistor device, which should not be construed,.
In a possible design, the resistance value of the second resistance device is 1K Ω.
The resistance value of second resistance device can be 1K Ω, and certainly, the resistance value of second resistance device can also be other numerical value, the
It is limitation to the application that the specific resistance value of two resistors, which should not be construed,.
In a possible design, a plurality of machinery foot is detachably connected with the main body by way of magnetic absorption
Connect.
A plurality of machinery foot can be detachably connected with main body by way of magnetic absorption, when mechanical foot is separated with main body
When, due to being magnetic absorption mode, so machinery can be with the separation agile with main body, will not be due to the machinery foot of disconnection and master
The adhesion of body and cause to tie down multi-foot robot.
Multi-foot robot provided in an embodiment of the present invention has the beneficial effect that：
Multi-foot robot includes main body, a plurality of mechanical foot, microprocessor, accessory power supply, first resistor device and the second electricity
Device is hindered, a plurality of machinery foot is detachably connected with main body, and microprocessor, accessory power supply, first resistor device are arranged at main body
Inside, is both provided with second resistance device in every mechanical foot in a plurality of machinery foot, accessory power supply by first resistor device with it is micro-
The first I/O port connection of processor, the first I/O port are grounded by second resistance device.Multi-foot robot is in a plurality of mechanical foot
Certain microprocessor can immediately be learnt and adjust the motion morphologies of remaining several machinery foot when being separated with agent structure, from
And adapt to the change of machinery foot and multi-foot robot is preferably moved, it highly shortened the scope of activities institute of robot
Be subject to being limited.
Brief description of the drawings
, below will be to embodiment or existing for the clearer explanation embodiment of the present invention or technical solution of the prior art
There is attached drawing needed in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the structure diagram for the multi-foot robot that present pre-ferred embodiments provide；
Fig. 2 is the part-structure schematic diagram of the machinery foot for the multi-foot robot that present pre-ferred embodiments provide；
Fig. 3 is the electric operation control circuit figure for the multi-foot robot that present pre-ferred embodiments provide；
Fig. 4 is that one kind that adjacent two machinery for the multi-foot robot that present pre-ferred embodiments provide disconnects enough is specifically shown
It is intended to；
Fig. 5 is that the another kind that adjacent two machinery for the multi-foot robot that present pre-ferred embodiments provide disconnects enough is specific
Schematic diagram；
Fig. 6 is that one kind that alternate two machinery for the multi-foot robot that present pre-ferred embodiments provide disconnects enough is specifically shown
It is intended to；
Fig. 7 is that the another kind that alternate two machinery for the multi-foot robot that present pre-ferred embodiments provide disconnects enough is specific
Schematic diagram；
Fig. 8 is that one kind that alternate two machinery for the multi-foot robot that present pre-ferred embodiments provide disconnects enough is specifically shown
It is intended to.
Icon：10- multi-foot robots；110- main bodys；120- machinery foots；The first sub- joints of 121-；The second sub- joints of 122-；
The 3rd sub- joints of 123-；The machinery foots of 210- first；The machinery foots of 220- second；The mechanical groups of 230- the 3rd；The machinery foots of 240- the 4th；
The machinery foots of 250- the 5th；The machinery foots of 260- the 6th.
Embodiment
Below in conjunction with attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Ground describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is right below
The detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit the scope of claimed invention, but
It is merely representative of the selected embodiment of the present invention.Based on the embodiment of the present invention, those skilled in the art are not making creativeness
All other embodiments obtained on the premise of work, belong to the scope of protection of the invention.
Details refer to Fig. 1, and Fig. 1 shows multi-foot robot 10 provided in an embodiment of the present invention, the multi-foot robot
10 include：Main body 110, a plurality of machinery foot 120, microprocessor U1, accessory power supply VCC, first resistor device R1 and second resistance
Device R2.The a plurality of machinery foot 120 is detachably connected with the main body 110.Every in a plurality of machinery foot 120 can be according to
Direction movement in Fig. 1 shown in A arrows.
The microprocessor U1, accessory power supply VCC, first resistor device R1 may be contained within the inside of the main body 110, described
Second resistance device R2 is both provided with every machinery foot 120 in a plurality of machinery foot 120；The accessory power supply VCC passes through described
First resistor device R1 is connected with the first I/O port of the microprocessor U1, and first I/O port passes through the second resistance device
R2 is grounded, and refers to Fig. 3.
When mechanical foot 120 is connected with main body 110, equivalent to the switch K1 closures in Fig. 3, at this time, microprocessor U1's
The output of first I/O port is low level；When mechanical foot 120 is disconnected with main body 110, disconnected equivalent to the switch K1 in Fig. 3, this
When, the first I/O port output of microprocessor U1 is high level.
Fig. 2 is referred to, every machinery foot 120 of a plurality of machinery foot 120 includes the first sub- of joint 121, second
122 and the 3rd sub- joint 123 of joint, the first sub- joint 121 are rotatablely connected with the described second sub- joint 122, specifically,
First sub- 121 and second sub- joint 122 of joint is rotated with B directions shown in Figure 2.The second sub- joint 122 and described the
Three sub- joints 123 are rotatablely connected, and the second sub- 122 and the 3rd sub- joint 123 of joint can be rotated with C directions shown in Figure 2.The
One sub- joint 121 is rotatablely connected with the second sub- joint 122, and the second sub- joint 122 is rotatablely connected with the 3rd sub- joint 123, a plurality of
Every machinery foot 120 of mechanical foot 120 is rotated by the first sub- joint 121, the second sub- 122 and the 3rd sub- joint 123 of joint
The mode of connection is moved.
Specifically, described every of 120 machinery foot 120 of a plurality of machinery foot further includes the first steering engine (not shown) and the
Two steering engine (not shown), first steering engine are arranged between the described first sub- 121 and second sub- joint 122 of joint, and described
Two steering engines are arranged on the described second sub- joint 122 and the 3rd between joint.
First steering engine can not stop to change the angle in the first sub- sub- joint 122 in joint 121 or the second, and the first son is closed
121 or second sub- joint 122 of section is fixed with any angle.Similarly, the second steering engine can not stop to change the second sub- joint 122 or the
The angle in three sub- joints 123, and the second sub- 122 or the 3rd sub- joint 123 of joint is fixed with any angle.
Specifically, a plurality of machinery foot 120 includes six machinery foots 120, and the six machinery foot 120 is evenly distributed on
Around the main body 110.
Six machinery foot 120 is evenly distributed on around main body 110, when one in six legs or two and main body 110
During separation, which still preferably can play the role of support to main body 110.
Specifically, six articles of machinery foot 120 includes the 220, the 3rd machinery foot of first the 210, second machinery of machinery foot foot
230th, the 240, the 5th machinery foot 250 of the 4th machinery foot and the 6th machinery foot 260, the first machinery foot the 210, second machinery foot
220th, the 240, the 5th machinery foot 250 of the 230, the 4th machinery foot of the 3rd machinery foot and the 6th machinery foot 260 divide along clockwise direction
Cloth refers to Fig. 1 around the main body 110.Six machinery foots 120 specifically include first machinery foot the 210, second machinery foot
220th, the 3rd machinery foot the 230, the 4th machinery foot the 240, the 5th machinery foot 250 and the 6th machinery foot 260, it is above-mentioned in each machine
Tool foot 120 may each comprise three sub- joints and two steering engines.
Specifically, when the described first machinery foot 210 is disconnected with the main body 110, the 6th machinery foot 260 is one
Group, the 220, the 4th machinery foot 240 of the second machinery foot is one group, and the 230, the 5th machinery foot 250 of the 3rd machinery foot is one
Group, three groups of machinery 120 alternating movements of foot；When the described second machinery foot 220 is disconnected with the main body 110, first machinery
The machinery of foot the 210, the 4th foot 240 is one group, and the 230, the 6th machinery foot 260 of the 3rd machinery foot is one group, and two groups of machinery foots 120 replace
Movement；When the described 3rd machinery foot 230 with the main body 110 disconnect when, it is described 4th machinery foot 240 be one group, described second
The mechanical machinery of foot the 220, the 6th foot 260 is one group, and the 210, the 5th machinery foot 250 of the first machinery foot is one group, three groups of machineries
120 alternating movements of foot；When the described 4th machinery foot 240 is disconnected with the main body 110, the 3rd machinery foot 230 is one group,
The 220, the 6th machinery foot 260 of second machinery foot is one group, and the 210, the 5th machinery foot 250 of the first machinery foot is one group,
Three groups of machinery 120 alternating movements of foot；When the described 5th machinery foot 250 is disconnected with the main body 110, the first machinery foot
210th, the 4th machinery foot 240 is one group, and the 230, the 6th machinery foot 260 of the 3rd machinery foot is one group, and two groups of machinery foots 120 are alternately transported
It is dynamic；When the described 6th machinery foot 260 is disconnected with the main body 110, the first machinery foot 210 is one group, second machine
The 220, the 4th machinery foot 240 of tool foot is one group, and the 230, the 5th machinery foot 250 of the 3rd machinery foot is one group, three groups of machinery foots
120 alternating movements.When a machinery foot 120 in six machinery foots 120 is disconnected with main body 110, remaining machinery foot 120 is equal
The movement of the multi-foot robot 10 can preferably be supported.
Specifically, when the adjacent two machinery foot 120 in described six machinery foots 120 is disconnected with the main body 110,
In remaining four machinery foot 120, spaced two machinery foots 120 are one group, two groups of machinery 120 alternating movements of foot.
Fig. 4 is referred to, when the first mechanical 210 and second machinery foot 220 of foot is disconnected with main body 110, microprocessor U1
The direction that the 6th machinery foot 260 is shown according to arrow D is controlled to rotate 30 degree, what the machinery of control the 3rd foot 230 was shown according to the arrow F
Direction rotates 60 degree, and the machinery of control the 4th foot 240 rotates 30 degree according to the direction shown in arrow E, and with the 3rd machinery foot
230th, the 5th machinery foot 250 is one group, and the 240, the 6th machinery foot 260 of the 4th machinery foot is one group, and two groups of machinery foots 120 are alternately transported
It is dynamic.
Fig. 5 is referred to, when the first mechanical 210 and the 6th machinery foot 260 of foot is disconnected with main body 110, microprocessor U1
The 5th machinery foot 250 is controlled to rotate 60 degree according to the direction shown in arrow G, the machinery foot 220 of control second is according to shown in arrow H
Direction rotates 60 degree, and with the 220, the 4th machinery foot 240 of the second machinery foot for one group, the 230, the 5th machinery foot of the 3rd machinery foot
250 be one group, two groups of machinery 120 alternating movements of foot.
Similarly, when the second machinery foot 220 and the 3rd machinery foot 230 are disconnected with main body 110, microprocessor control first
Mechanical foot 210 rotates clockwise 60 degree, and the 4th machinery foot 240 rotates counterclockwise 30 degree, and the 6th machinery foot 260 rotates clockwise
30 degree, then with the 210, the 5th machinery foot 250 of the first machinery foot for one group, the 240, the 6th machinery foot 260 of the 4th machinery foot is
One group, two groups of machinery 120 alternating movements of foot.
When the 4th machinery foot 240 and the 5th machinery foot 250 are disconnected with main body 110, the machinery of microprocessor control the 6th
Foot 260 rotates counterclockwise 60 degree, and the machinery of control first foot 210 rotates counterclockwise 30 degree, and the 3rd machinery foot 230 rotates clockwise 30
Degree, then with the 220, the 6th machinery foot 260 of the second machinery foot for one group, the 210, the 3rd machinery foot 230 of the first machinery foot is one group,
Two groups of machinery 120 alternating movements of foot.
When the 5th machinery foot 250 and the 6th machinery foot 260 are disconnected with main body 110, the machinery of microprocessor control first
Foot 210 rotates clockwise 60 degree, and the 4th machinery foot 240 rotates counterclockwise 30 degree, and the 6th machinery foot 260 rotates clockwise 30 degree,
Then with second machinery foot the 220, the 4th machinery foot 240 be one group, first machinery foot the 210, the 3rd machinery foot 230 be one group, two
Group machinery 120 alternating movements of foot.
When the adjacent two machinery foot 120 in six machinery foots 120 is disconnected with main body 110, remaining four machinery foot
In 120, two groups of machinery 120 alternating movements of foot are made in a manner of separately.
Fig. 6 is referred to, when the 210, the 3rd machinery foot 230 of the first machinery foot is disconnected with main body 110, microprocessor control
4th machinery foot 240 is according to 30 degree of angular turn shown in J arrows, machinery 260 angle shown according to I arrows of foot of control the 6th
30 degree are rotated, and with the 240, the 6th machinery foot 260 of the 4th machinery foot for one group, the 220, the 5th machinery foot 250 of the second machinery foot
For one group, two groups of machinery 120 alternating movements of foot.
Fig. 7 is referred to, when the 220, the 4th machinery foot 240 of the second machinery foot is disconnected with main body 110, microprocessor control
First machinery foot 210 rotates 60 degree according to the direction shown in L arrows, 230 direction shown according to M arrows of the machinery foot of control the 3rd
Rotate 30 degree, the machinery of control the 6th foot 260 rotates 30 degree according to the direction shown in K arrows, and with first mechanical sufficient 210, the
Five machinery foots 250 are one group, and the 230, the 6th machinery foot 260 of the 3rd machinery foot is one group, two groups of machinery 120 alternating movements of foot.
When the 230, the 5th machinery foot 250 of the 3rd machinery foot is disconnected with main body 110, the machinery foot of microprocessor control the 6th
260 rotate counterclockwise 60 degree, and the first machinery foot 210 rotates counterclockwise 30 degree, and the 4th machinery foot 240 rotates counterclockwise 30 degree, and
And with the 210, the 4th machinery foot 240 of the first machinery foot for one group, the 230, the 6th machinery foot 260 of the 3rd machinery foot is one group, two groups
120 alternating movements of mechanical foot.
When the 210, the 5th machinery foot 250 of the first machinery foot is disconnected with main body 110, the machinery foot of microprocessor control the 4th
240 rotate clockwise 60 degree, and the 3rd machinery foot 230 rotates clockwise 30 degree, and the 6th machinery foot 260 rotates clockwise 30 degree, and
And with the 220, the 4th machinery foot 240 of the second machinery foot for one group, the 230, the 6th machinery foot 260 of the 3rd machinery foot is one group, two groups
120 alternating movements of mechanical foot.
When the 220, the 6th machinery foot 260 of the second machinery foot is disconnected with main body 110, the machinery foot of microprocessor control the 3rd
230 rotate counterclockwise 60 degree, and the first machinery foot 210 rotates counterclockwise 30 degree, and the 4th machinery foot 240 rotates counterclockwise 30 degree, and
And with the 230, the 5th machinery foot 250 of the 3rd machinery foot for one group, the 210, the 4th machinery foot 240 of the first machinery foot is one group, two groups
120 alternating movements of mechanical foot.
Fig. 8 is referred to, Fig. 8 shows what two machinery foots 120 opposite in six machinery foots 120 were disconnected with main body 110
Schematic diagram, specifically, when the 210, the 4th machinery foot 240 of the first machinery foot is disconnected with main body 110, described in microprocessor control
3rd machinery foot 230 is rotated in the clockwise direction 30 degree, and the machinery of control the 6th foot 260 is rotated in the clockwise direction 30 degree, and
With the 220, the 5th machinery foot 250 of the second machinery foot for one group, the 230, the 6th machinery foot 260 of the 3rd machinery foot is one group, two groups of machines
Tool 120 alternating movements of foot.
If the 220, the 5th machinery foot 250 of the second machinery foot is disconnected with main body 110, motion mode is with individually lacking second
It is identical during mechanical foot 220.
When mechanical sufficient 120 when lacking quantity more than three, only the multi-foot robot 10 of surplus three machinery foot 120 can lead to
Cross the mode creeped to move, such as main body is directed away from by all machinery foots 120 of rotation of the first steering engine, the second steering engine
110 direction movement, then rotates the first steering engine and the second steering engine, thus draw between mechanical foot 120 and main body 110 away from
From repeating aforesaid way to realize creeping for multi-foot robot 10.
Specifically, the resistance value of the first resistor device R1 is 10K Ω.
The resistance value of first resistor device R1 can be 10K Ω, and certainly, the resistance value of first resistor device R1 can also be other numbers
Value, it is limitation to the application that the resistance value of first resistor device R1, which should not be construed,.
Specifically, the resistance value of the second resistance device R2 is 1K Ω.
The resistance value of second resistance device R2 can be 1K Ω, and certainly, the resistance value of second resistance device R2 can also be other numbers
Value, it is limitation to the application that the specific resistance value of second resistance device R2, which should not be construed,.
Specifically, a plurality of machinery foot 120 is detachably connected with the main body 110 by way of magnetic absorption.
A plurality of machinery foot 120 can be detachably connected with main body 110 by way of magnetic absorption, when mechanical foot 120 and
When main body 110 separates, due to being magnetic absorption mode, so the separation that machinery foot 120 can be agile with main body 110, Bu Huiyou
Caused tying down to multi-foot robot 10 in machinery foot 120 and the adhesion of main body 110 of disconnection.
Multi-foot robot 10 provided in an embodiment of the present invention has the beneficial effect that：
Multi-foot robot 10 includes main body 110, a plurality of machinery foot 120, microprocessor U1, accessory power supply VCC, first resistor
Device R1 and second resistance device R2, a plurality of machinery foot 120 are detachably connected with main body 110, microprocessor U1, accessory power supply
VCC, first resistor device R1 are arranged at the inside of main body 110, are respectively provided with every machinery foot 120 in a plurality of machinery foot 120
There are second resistance device R2, accessory power supply VCC to be connected by first resistor device R1 with the first I/O port of microprocessor U1, the first IO
Port is grounded by second resistance device R2.Multi-foot robot 10 it is a plurality of machinery foot 120 in certain separated with 110 structure of main body
When, microprocessor U1 can immediately learn and adjust the motion morphology of remaining several machinery foot 120, so as to adapt to mechanical foot 120
Change and multi-foot robot 10 is preferably moved, highly shortened the limit suffered by the scope of activities of robot
System.
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, above in conjunction with the embodiment of the present invention
Attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, instead of all the embodiments.The present invention implementation being usually described and illustrated herein in the accompanying drawings
The component of example can be arranged and designed with a variety of configurations.
Therefore, the detailed description of the embodiment of the present invention of the above to providing in the accompanying drawings is not intended to limit claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.Based on the embodiments of the present invention, this area is common
Technical staff's all other embodiments obtained without creative efforts, belong to the model that the present invention protects
Enclose.
It should be noted that：Similar label and letter represents similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
In the description of the present invention, it is necessary to explanation, term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, or should
Invention product using when the orientation usually put or position relationship, be for only for ease of the description present invention and simplify description, without
It is instruction or implies signified multi-foot robot or element there must be specific orientation, with specific azimuth configuration and operation,
Therefore it is not considered as limiting the invention.In addition, term " first ", " second ", " the 3rd " etc. are only used for distinguishing description, and
It is not intended that instruction or hint relative importance.
In the description of the present invention, it is also necessary to explanation, unless otherwise clearly defined and limited, term " setting ",
" installation ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or one
Connect body；Can mechanically connect or be electrically connected；It can be directly connected, can also be indirect by intermediary
It is connected, can is the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
Claims (10)
1. a kind of multi-foot robot, it is characterised in that the robot includes：Main body, a plurality of mechanical foot, microprocessor, auxiliary
Power supply, first resistor device and second resistance device；
The a plurality of machinery foot is detachably connected with the main body, and the microprocessor, accessory power supply, first resistor device are all provided with
It is placed in the inside of the main body, second resistance device is both provided with every mechanical foot in a plurality of mechanical foot；
The accessory power supply is connected by the first resistor device with the first I/O port of the microprocessor, the first IO ends
Mouth passes through the second resistance device and is grounded.
2. multi-foot robot according to claim 1, it is characterised in that every machinery foot of a plurality of machinery foot wraps
The first sub- joint, the second sub- joint and the 3rd sub- joint are included, the first sub- joint is connected with the described second sub- articulation,
The second sub- joint is connected with the 3rd sub- articulation.
3. multi-foot robot according to claim 2, it is characterised in that every machinery foot of a plurality of machinery foot is also
Including the first steering engine and the second steering engine, first steering engine is arranged between the described first sub- joint and the second sub- joint, institute
State the second steering engine and be arranged on the described second sub- joint and the 3rd between joint.
4. multi-foot robot according to claim 1, it is characterised in that a plurality of machinery foot includes six machinery foots,
The six machinery foot is evenly distributed on around the main body.
5. multi-foot robot according to claim 4, it is characterised in that it is described six machinery foot include first machinery foot,
Second machinery foot, the 3rd machinery foot, the 4th machinery foot, the 5th machinery are enough and the 6th machinery foot, the first machinery foot, second
Mechanical foot, the 3rd machinery foot, the 4th machinery foot, the 5th machinery are enough and the 6th machinery foot is distributed in the master along clockwise direction
Around body.
6. multi-foot robot according to claim 5, it is characterised in that
When the described first machinery foot is disconnected with the main body, the 6th machinery foot is one group, the second machinery foot, the 4th
Mechanical foot is one group, and the 3rd machinery foot, the 5th machinery foot are one group, the sufficient alternating movement of three groups of machineries；
When the described second machinery foot is disconnected with the main body, the first machinery foot, the 4th machinery foot are one group, the 3rd machinery
Foot, the 6th machinery foot are one group, the sufficient alternating movement of two groups of machineries；
When the described 3rd machinery foot is disconnected with the main body, the 4th machinery foot is one group, the second machinery foot, the 6th
Mechanical foot is one group, and the first machinery foot, the 5th machinery foot are one group, the sufficient alternating movement of three groups of machineries；
When the described 4th machinery foot is disconnected with the main body, the 3rd machinery foot is one group, the second machinery foot, the 6th
Mechanical foot is one group, and the first machinery foot, the 5th machinery foot are one group, the sufficient alternating movement of three groups of machineries；
When the described 5th machinery foot is disconnected with the main body, the first machinery foot, the 4th machinery foot are one group, the 3rd machinery
Foot, the 6th machinery foot are one group, the sufficient alternating movement of two groups of machineries；
When the described 6th machinery foot is disconnected with the main body, the first machinery foot is one group, the second machinery foot, the 4th
Mechanical foot is one group, and the 3rd machinery foot, the 5th machinery foot are one group, the sufficient alternating movement of three groups of machineries.
7. multi-foot robot according to claim 5, it is characterised in that
When the adjacent two machinery foot in described six mechanical foots is disconnected with the main body, it is left in four mechanical foots, phase
Two machinery foots being mutually spaced are one group, the sufficient alternating movement of two groups of machineries.
8. multi-foot robot according to claim 1, it is characterised in that the resistance value of the first resistor device is 10K Ω.
9. multi-foot robot according to claim 1, it is characterised in that the resistance value of the second resistance device is 1K Ω.
10. multi-foot robot according to claim 1, it is characterised in that a plurality of machinery foot passes through with the main body
The mode of magnetic absorption is detachably connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711287895.1A CN107933736A (en) | 2017-12-07 | 2017-12-07 | multi-foot robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711287895.1A CN107933736A (en) | 2017-12-07 | 2017-12-07 | multi-foot robot |
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| CN107933736A true CN107933736A (en) | 2018-04-20 |
Family
ID=61946192
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711287895.1A Pending CN107933736A (en) | 2017-12-07 | 2017-12-07 | multi-foot robot |
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| CN (1) | CN107933736A (en) |
Citations (6)
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|---|---|---|---|---|
| EP0399720A1 (en) * | 1989-05-17 | 1990-11-28 | Carnegie-Mellon University | Orthogonal legged walking robot |
| CN103631174A (en) * | 2012-08-29 | 2014-03-12 | 中国科学院沈阳自动化研究所 | Miniature underwater robot propulsion control system and rudder control method thereof |
| CN105172933A (en) * | 2015-08-18 | 2015-12-23 | 长安大学 | Spider-imitating multi-foot robot platform |
| CN205706946U (en) * | 2016-05-04 | 2016-11-23 | 南京工程学院 | A kind of polypody rolling robot |
| WO2017181976A1 (en) * | 2016-04-21 | 2017-10-26 | 孙天齐 | Gait planning method for improving walking stability of six-legged robot |
| CN207631374U (en) * | 2017-12-07 | 2018-07-20 | 程子铭 | multi-foot robot |
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2017
- 2017-12-07 CN CN201711287895.1A patent/CN107933736A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0399720A1 (en) * | 1989-05-17 | 1990-11-28 | Carnegie-Mellon University | Orthogonal legged walking robot |
| CN103631174A (en) * | 2012-08-29 | 2014-03-12 | 中国科学院沈阳自动化研究所 | Miniature underwater robot propulsion control system and rudder control method thereof |
| CN105172933A (en) * | 2015-08-18 | 2015-12-23 | 长安大学 | Spider-imitating multi-foot robot platform |
| WO2017181976A1 (en) * | 2016-04-21 | 2017-10-26 | 孙天齐 | Gait planning method for improving walking stability of six-legged robot |
| CN205706946U (en) * | 2016-05-04 | 2016-11-23 | 南京工程学院 | A kind of polypody rolling robot |
| CN207631374U (en) * | 2017-12-07 | 2018-07-20 | 程子铭 | multi-foot robot |
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