CN108945146A - A kind of game spider robot leg mechanism and working method - Google Patents
A kind of game spider robot leg mechanism and working method Download PDFInfo
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- CN108945146A CN108945146A CN201810851135.7A CN201810851135A CN108945146A CN 108945146 A CN108945146 A CN 108945146A CN 201810851135 A CN201810851135 A CN 201810851135A CN 108945146 A CN108945146 A CN 108945146A
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- leg
- sliding block
- attached
- long hole
- spring
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
A kind of game spider robot leg mechanism and working method are suitable for bionical polypody spider robot used in confrontation game and use.The front end of the main leg of spider robot is equipped with the dependent response mechanism for preventing machine leg to be stuck in rock crevice when landing；When machine leg is caught in rock seam in traveling, hinder power make the sliding block spring in long hole with lifting for pedipulator and, and it is moved along fixed glide direction to long hole left side, spring on the left of sliding block is set at this time and is in compressive state, spring on the right side of sliding block is set and is in tensional state, main leg point should be overlapped i.e. bolt present position with the rotation center of circle of attached leg end, since side baffle is slightly lower under attached leg, so that attached leg makes downwards a degree of bending as the center of circle using sliding block bolt, rock is reduced by bending attached leg and acts on the obstruction power of leg to get rid of poverty.Its structure is simple, and using effect is good.
Description
Technical field
The present invention relates to a kind of spider robot leg mechanism and working method, the spider being particularly suitable in confrontation game
Robot advances game spider robot leg mechanism and the working method used in the place stitched there are rock.
Background technique
The technical issues that need to address: spider robot leg is by steering engine and skeletal support, spider robot leg at present
Structure is simple, drives attached leg to advance in place by main leg, and at rugged hill path, due to pavement roughness, spider machine
People's leg end is easy to be stuck between rock, and there is no designs of getting rid of poverty accordingly in existing design, cause spider robot logical
Row is inconvenient even to make steering engine overheat to influence the robot service life.And since damping device is not present in leg, robot is whole
Mobile platform serious forgiveness is not high, causes robot that can not successfully manage non-laboratory ground surface environment.
Summary of the invention
Purpose in view of the above technology, provides that a kind of structure is simple, and using effect is good, can assist the leg of spider robot from
The game got rid of poverty in CCTV gap spider robot leg mechanism and working method.
To achieve the goals above, a kind of game spider robot leg mechanism of the invention is applied to confrontation game
Used in bionical polypody spider robot, each machine leg of spider robot includes main leg, and main leg is equipped with multiple rudders
Machine, the front end of main leg are equipped with the dependent response mechanism for preventing machine leg to be stuck in rock crevice when landing, the dependent response
Mechanism includes the attached leg being arranged on main leg front end, is flexibly connected between attached leg and main leg by shaft, wherein attached leg and main leg
Junction is equipped with long hole, and the direction of long hole is consistent with attached leg direction, and long hole two sides are equipped with metal shaft fixed groove, is equipped in long hole
Sliding block, sliding block two sides are equipped with the metal shaft for being caught in long hole two sides metal shaft fixed groove, and sliding block is arranged in long hole centre, sliding block
Metal shaft between long bore edges is equipped with spring, is equipped with spring, spring one end and sliding block in the metal shaft of sliding block two sides
Fixed, the other end is fixed with long bore edges, and metal cover board is equipped on the outside of the long hole of attached leg outer side, and metal cover board is solid by bolt
It is fixed, and sliding block and metal shaft are fixed in long hole, it is provided on metal cover board and is equipped with sliding block with the matched gap of long hole, sliding block
Bolt is placed in the attached leg, sliding block and the top of robot above attached leg for controlling the cover board of sliding block glide direction with cunning
It is slightly rotated centered on block bolt.
The joint of the attached leg is equipped with protection spring, and provides fixed platform for bolt and control sliding block moving direction
Protective cover plate.
A kind of game working method of spider robot leg mechanism, its step are as follows:
A. when moving, machine leg lifts spider robot under the action of steering engine, and attached leg, which is vacantly in, at this time does not accept state,
The sliding block of attached leg is located at the center of long hole at this time, and the main leg front end of robot does not have between attached leg and main leg inside attached leg
It angle and can not bend；
B. in normal traveling, machine leg lands under the action of steering engine, and main leg applies pressure to attached leg, at this time the sliding block in long hole
Sliding block is compressed under the action of main leg is applied to ground, sliding block is along the glide direction for being parallel to attached leg fixed by metal cover board
Close to attached leg point, at this moment the spring on the left of sliding block is set be in tensional state, right side spring is in compressive state, at this moment main leg
Front end enters inside attached leg, so not having angle between the main leg of robot and attached leg and can not bend；
C. when machine leg is caught in rock seam in traveling, main leg is lifted up under the action of steering engine, attached leg top and rock
Sew up touching and generate obstruction power, hinder power make the sliding block spring in long hole with lifting for pedipulator and, and along fixed sliding side
To movement on the left of long hole, the spring on the left of sliding block is set at this time and is in compressive state, is arranged at the spring on the right side of sliding block
In tensional state, main leg point should be overlapped i.e. bolt present position with the rotation center of circle of attached leg end, and due to side block under attached leg
Plate is slightly lower, and attached leg can be made to make a degree of bending, bending degree and attached leg downside downwards as the center of circle using sliding block bolt
The position of baffle is related, and machine leg reduces the obstruction power that rock acts on leg by bending attached leg when being blocked by rock
It to get rid of poverty, repeats the above steps, the movement in rock seam region is completed in game with spider robot leg mechanism.
The utility model has the advantages that compared with the prior art, the design can conveniently improve the mobile appearance of spider robot
Error rate allows robot to cope with non-laboratory ground surface environment, and can pass through dependent response machine rock crevice formula is added
Structure is got rid of poverty automatically, and preventing from not operating because of steering engine causes overheat to damage steering engine.It is to sum up told, which can be improved machine
The mobile serious forgiveness of device people, improves the passability in rough ground, and can allow robot that can get rid of poverty automatically, and extend machine
Device people's service life.
Detailed description of the invention
Fig. 1 is the overall diagram of game spider robot of the present invention leg,
Fig. 2 is game spider robot leg mechanism structure chart of the present invention,
Fig. 3 is that game spider robot leg mechanism of the present invention removes attached leg internal structure chart after cover board,
Fig. 4 is game spider robot leg mechanism workflow schematic diagram of the present invention,
Fig. 5 is the relationship of baffle position on the downside of the bending angle and attached leg of game spider robot leg mechanism of the present invention
In figure: the attached leg of 1-1,1-2 protective cover plate, 1-3 bolt, 1-4 spring, 1-5 long hole, 1-6 sliding block, the main leg of 2-1,
3-1 steering engine.
Specific embodiment
It is described further below according to specific embodiment:
As shown in Figure 1, Figure 2 and Figure 3, a kind of game spider robot leg mechanism of the invention is applied in confrontation game
The bionical polypody spider robot used: each machine leg of the spider robot includes main leg 2-1, is set on main leg 2-1
There are multiple steering engine 3-1, the front end of main leg 2-1 is equipped with the dependent response machine for preventing machine leg to be stuck in rock crevice when landing
Structure, the dependent response mechanism include the attached leg 1-1 being arranged on the front end main leg 2-1, are passed through between attached leg 1-1 and main leg 2-1
Shaft is flexibly connected, wherein attached leg 1-1 and the junction main leg 2-1 are equipped with long hole 1-5, the direction of long hole 1-5 and the direction attached leg 1-1
Unanimously, the both ends long hole 1-5 are equipped with metal shaft fixed groove, and sliding block 1-6 is equipped in long hole 1-5, and the two sides sliding block 1-6 are equipped with and are caught in length
The metal shaft of the hole two sides 1-5 metal shaft fixed groove, sliding block 1-6 setting is in the center long hole 1-5, sliding block 1-6 and the two sides long hole 1-5
Spring 1-4 is respectively equipped in metal shaft between edge, the one end spring 1-4 is fixed with sliding block 1-6, the other end and the side long hole 1-5
Edge is fixed, and metal cover board is equipped on the outside of the long hole 1-5 on the outside of attached leg 1-1, and metal cover board is linked by bolt 1-3, and by sliding block
1-6 and metal shaft are fixed in long hole 1-5, are provided on metal cover board and are equipped with cunning with the matched gap long hole 1-5, sliding block 1-6
Block 1-6 bolt 1-3 makes attached leg 1-1, the sliding block 1-6 of robot and is topmost placed in above attached leg 1-1 for controlling sliding block 1-
The cover board of 6 glide directions is slightly rotated centered on sliding block 1-6 bolt 1-3.
The joint of the attached leg 1-1 is equipped with protection spring 1-4, and provides fixed platform for bolt 1-3 and control sliding block
The protective cover plate 1-2 of 1-6 moving direction.
As shown in figure 4, a kind of working method of game with spider robot leg mechanism, its step are as follows:
A. when moving, machine leg lifts spider robot under the action of steering engine 3-1, at this time attached leg 1-1 be vacantly in not by
Reason state, the sliding block 1-6 of attached leg 1-1 is located at the center of long hole 1-5 at this time, and the robot front end main leg 2-1 is in attached leg 1-1
Portion does not have angle and can not bend between attached leg 1-1 and main leg 2-1；
B. in normal traveling, machine leg lands under the action of steering engine 3-1, and main leg 2-1 applies pressure, this duration to attached leg 1-1
Sliding block 1-6 in the 1-5 of hole compresses sliding block 1-6 under the action of main leg 2-1 is applied to ground, and sliding block 1-6 is along by metal cover board
At this moment the fixed glide direction for being parallel to attached leg 1-1 is arranged in the spring 1-4 on the left of sliding block 1-6 and is in close to attached leg 1-1 point
Tensional state, right side spring 1-4 are in compressive state, and at this moment the front end main leg 2-1 enters inside attached leg 1-1, so robot master
There is no angle between leg 2-1 and attached leg 1-1 and can not bend；
C. when machine leg is caught in rock seam in traveling, main leg 2-1 is lifted up under the action of steering engine 3-1, on attached leg 1-1
Side sews up touching and generates obstruction power with rock, hinder power make the sliding block 1-6 spring 1-4 in long hole 1-5 with lifting for pedipulator and,
And moved along fixed glide direction to the left side long hole 1-5, the spring 1-4 on the left of sliding block 1-6 is set at this time and is in compression shape
State is arranged in the spring 1-4 on the right side of sliding block 1-6 and is in tensional state, and main leg 2-1 point should be with the rotation center of circle of the end attached leg 1-1
Be overlapped be the present position bolt 1-3, and due under attached leg 1-1 side baffle it is slightly lower, attached leg 1-1 can be made with sliding block 1-6 spiral shell
Bolt 1-3 is that a degree of bending is made downwards in the center of circle, and bending degree is related with the position of side baffle under attached leg 1-1, machine leg
When being blocked by rock, rock is reduced by bending attached leg 1-1 and acts on the obstruction power of leg to get rid of poverty, repeats above-mentioned step
Suddenly, the movement in rock seam region is completed in game with spider robot leg mechanism.
As shown in figure 5, main leg 2-1 makes a degree of bending with the rotation center of circle being flexibly connected attached leg 1-1:, indicate protective cover plate on the downside of the attached leg 1-1 rotational angle and attached leg 1-1 in dependent response mechanism
The relationship of the spindle central distance of the attached leg 1-1 of 1-2-, wherein α be bending/rotational angle, O be the shaft center of circle, H be the center of circle with it is attached
The vertical point of protective cover plate 1-2 on the downside of leg 1-1, x are the distance of protective cover plate 1-2 to H point on the downside of attached leg 1-1.
Claims (3)
1. a kind of game spider robot leg mechanism is applied to bionical polypody spider robot used in confrontation game,
It is characterized by: each machine leg of the spider robot includes main leg, main leg is equipped with multiple steering engines, the front end of main leg
It is equipped with the dependent response mechanism for preventing machine leg to be stuck in rock crevice when landing, the dependent response mechanism includes that setting exists
Attached leg on main leg front end, is flexibly connected between attached leg and main leg by shaft, wherein attached leg and main leg junction are equipped with long hole,
The direction of long hole is consistent with attached leg direction, and long hole two sides are equipped with metal shaft fixed groove, and sliding block, sliding block two sides point are equipped in long hole
It She You be caught in the metal shaft of long hole two sides metal shaft fixed groove, sliding block setting is in long hole centre, sliding block and long bore edges
Between metal shaft be equipped with spring, be equipped with spring in the metal shaft of sliding block two sides, spring one end is fixed with sliding block, the other end
Fixed with long bore edges, metal cover board be equipped on the outside of the long hole of attached leg outer side, metal cover board is linked by bolt, and by sliding block and
Metal shaft is fixed in long hole, is provided on metal cover board and is equipped with sliding block bolt with the matched gap of long hole, sliding block, makes robot
Attached leg, sliding block and be topmost placed in above attached leg light centered on sliding block bolt for controlling the cover board of sliding block glide direction
Micro- rotation.
2. game according to claim 1 spider robot leg mechanism, it is characterised in that: the joint of the attached leg
Equipped with protection spring, and fixed platform is provided for bolt and controls the protective cover plate of sliding block moving direction.
3. a kind of use the working method of spider robot leg mechanism of game described in claim 1, it is characterised in that step
It is as follows:
A. when moving, machine leg lifts spider robot under the action of steering engine, and attached leg, which is vacantly in, at this time does not accept state,
The sliding block of attached leg is located at the center of long hole at this time, and the main leg front end of robot does not have between attached leg and main leg inside attached leg
It angle and can not bend；
B. in normal traveling, machine leg lands under the action of steering engine, and main leg applies pressure to attached leg, at this time the sliding block in long hole
Sliding block is compressed under the action of main leg is applied to ground, sliding block is along the glide direction for being parallel to attached leg fixed by metal cover board
Close to attached leg point, at this moment the spring on the left of sliding block is set be in tensional state, right side spring is in compressive state, at this moment main leg
Front end enters inside attached leg, so not having angle between the main leg of robot and attached leg and can not bend；
C. when machine leg is caught in rock seam in traveling, main leg is lifted up under the action of steering engine, attached leg top and rock
Sew up touching and generate obstruction power, hinder power make the sliding block spring in long hole with lifting for pedipulator and, and along fixed sliding side
To movement on the left of long hole, the spring on the left of sliding block is set at this time and is in compressive state, is arranged at the spring on the right side of sliding block
In tensional state, main leg point should be overlapped i.e. bolt present position with the rotation center of circle of attached leg end, and due to side block under attached leg
Plate is slightly lower, and attached leg can be made to make a degree of bending, bending degree and attached leg downside downwards as the center of circle using sliding block bolt
The position of baffle is related, and machine leg reduces the obstruction power that rock acts on leg by bending attached leg when being blocked by rock
It to get rid of poverty, repeats the above steps, the movement in rock seam region is completed in game with spider robot leg mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810851135.7A CN108945146B (en) | 2018-07-30 | 2018-07-30 | Spider robot leg mechanism for game and working method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810851135.7A CN108945146B (en) | 2018-07-30 | 2018-07-30 | Spider robot leg mechanism for game and working method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108945146A true CN108945146A (en) | 2018-12-07 |
| CN108945146B CN108945146B (en) | 2021-12-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810851135.7A Active CN108945146B (en) | 2018-07-30 | 2018-07-30 | Spider robot leg mechanism for game and working method |
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2018
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| KR101315199B1 (en) * | 2012-04-02 | 2013-10-07 | 서울과학기술대학교 산학협력단 | Walking assistant robots to use passive muscle compensation device |
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| CN106607892A (en) * | 2015-10-23 | 2017-05-03 | 徐秀萍 | Dragonfly-claw type bionic end executor suitable for grabbing different forms of fruits and vegetables |
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| CN108945146B (en) | 2021-12-07 |
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