CN110217310B - Six-foot robot - Google Patents
Six-foot robot Download PDFInfo
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- CN110217310B CN110217310B CN201910417928.2A CN201910417928A CN110217310B CN 110217310 B CN110217310 B CN 110217310B CN 201910417928 A CN201910417928 A CN 201910417928A CN 110217310 B CN110217310 B CN 110217310B
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- frame
- walking
- rotating shaft
- rod
- rotating
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- 230000007246 mechanism Effects 0.000 claims abstract description 21
- 241000238631 Hexapoda Species 0.000 claims abstract description 13
- 229910052782 aluminium Inorganic materials 0.000 claims description 8
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 8
- 239000000463 material Substances 0.000 claims description 3
- 230000009194 climbing Effects 0.000 abstract description 3
- 230000009467 reduction Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 241001465754 Metazoa Species 0.000 description 1
- GUWKQWHKSFBVAC-UHFFFAOYSA-N [C].[Au] Chemical compound [C].[Au] GUWKQWHKSFBVAC-UHFFFAOYSA-N 0.000 description 1
- 239000002253 acid Substances 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- RKTYLMNFRDHKIL-UHFFFAOYSA-N copper;5,10,15,20-tetraphenylporphyrin-22,24-diide Chemical compound [Cu+2].C1=CC(C(=C2C=CC([N-]2)=C(C=2C=CC=CC=2)C=2C=CC(N=2)=C(C=2C=CC=CC=2)C2=CC=C3[N-]2)C=2C=CC=CC=2)=NC1=C3C1=CC=CC=C1 RKTYLMNFRDHKIL-UHFFFAOYSA-N 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a hexapod robot, which comprises a frame, a front rotating shaft arranged at the front part of the frame, a rear rotating shaft arranged at the rear part of the frame, and a driving mechanism arranged on the frame and used for driving the front rotating shaft to rotate, wherein rotating arms are respectively arranged at the two end parts of the front rotating shaft and the rear rotating shaft, the rotating arms are positioned at the two sides of the frame, two downward walking rods are respectively hinged at the free end part of each rotating arm, two walking rods which are close to each other on the two rotating arms at the same side are hinged at the bottom end, a linkage rod is hinged at the middle part of each walking rod, and the other end of each linkage rod is hinged with the side surface of the frame. The six-foot robot can realize the driving and walking of the robot through one driving mechanism, has a simple structure, is stable in walking, and has good climbing, obstacle surmounting and load bearing functions.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a hexapod robot.
Background
The moving mechanism is the most basic, critical part of various robotic systems. In order to adapt to different environments and occasions, the moving mechanism of the mobile robot mainly comprises a wheel type moving mechanism, a crawler type moving mechanism, a foot type moving mechanism and the like. The wheel type moving mechanism is most applied, such as an automobile and a moving trolley, wheels are arranged at the bottom of the wheel type moving mechanism, the wheels are driven to roll, the moving speed is high, the efficiency is high, special roads are required to be paved, and the adaptability and the passing obstacle crossing capability are relatively poor. The crawler robot is provided with a set of crawler device at the bottom, has good adaptability to rugged terrains, has strong obstacle crossing capability, such as a tank, and has heavy and slow walking defect type crawler. The foot type mobile robot has the strongest terrain adaptation capability through stepping.
The foot robot is a robot using a leg (foot) system as a walking system. Foot robots simulate walking of a human or an animal, and are classified into two-foot humanoid mobile robots, four-foot robots, six-foot robots, multi-foot robots, and the like according to the number of legs (feet).
Among them, bipedal and quadruped robots are mature and have been widely used in a variety of fields. Compared with the biped and quadruped robots, the hexapod robot has the advantages of stable gravity center, stable walking, high balance and the like, and has higher operability and stronger obstacle crossing capability. However, the existing six-legged robot basically needs to be matched with a driving mechanism, and has the advantages of complex structure, huge size, heavy weight, high requirements on control components and operation, and high manufacturing and maintenance cost.
Disclosure of Invention
In order to overcome the defects, the invention provides the hexapod robot, which can drive hexapod walking through one driving mechanism so as to realize robot walking.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the utility model provides a six sufficient robots, including the frame, set up in the preceding pivot of frame front portion with set up in the back pivot of frame rear portion, and set up in be used for the drive on the frame preceding pivot pivoted actuating mechanism, be equipped with the rotor arm on the both ends tip of preceding pivot and back pivot respectively, the rotor arm is located the both sides of frame, every it has two decurrent walking poles to articulate respectively on the free end of rotor arm, and two on the same side two walking poles that are close to each other on the rotor arm are articulated mutually in the bottom, every the middle part of walking pole all articulates there is a gangbar, the other end of gangbar with the side of frame articulates mutually.
Further, the driving mechanism comprises a motor arranged on the frame, a driving sprocket fixedly arranged on an output shaft of the motor, a driven sprocket fixedly arranged on the front rotating shaft and a chain sleeved on the driving sprocket and the driven sprocket.
Further, the walking rod and the linkage rod are square aluminum profiles and U-shaped aluminum products which are distributed in a staggered mode.
Further, the orientations of the two rotating arms on the front rotating shaft are not identical, the orientations of the two rotating arms on the rear rotating shaft are not identical, and the orientations of the two rotating arms on the same side of the frame are not identical.
Further, the two rotating arms on the front rotating shaft are opposite in orientation, the two rotating arms on the rear rotating shaft are opposite in orientation, and the two rotating arms on the same side of the frame are opposite in orientation.
Further, the frame comprises a base plate, and the motor is mounted on the top surface of the base plate.
Further, the hinge between the walking rod and the linkage rod, the hinge between the rotating arm and the walking rod, the hinge between the walking rod and the walking rod, and the hinge between the linkage rod and the frame are connected through bolts and nuts.
Compared with the prior art, the invention has the beneficial effects that: the six-foot robot can realize the driving and walking of the robot through one driving mechanism, has a simple structure, is stable in walking, and has good climbing, obstacle surmounting and load bearing functions.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the description of the embodiments will be briefly described below.
Fig. 1 is a schematic structural view of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, the present invention provides a hexapod robot, which includes a frame 1, a front rotating shaft 2 disposed at the front of the frame 1, a rear rotating shaft 3 disposed at the rear of the frame 1, and a driving mechanism disposed on the frame 1 for driving the front rotating shaft 2 to rotate. The frame 1 is horizontally tiled, and the front rotating shaft 2 and the rear rotating shaft 3 are horizontally arranged on the frame 1 and are parallel to each other. The two ends of the front rotating shaft 2 and the rear rotating shaft 3 are respectively provided with rotating arms 5, the rotating arms 5 are positioned on two sides of the frame 1, two downward walking rods 6 are respectively hinged on the free end of each rotating arm 5, two walking rods 6 which are mutually close to each other on the two rotating arms 5 on the same side are hinged at the bottom end, the middle part of each walking rod 6 is hinged with a linkage rod 7, the other end of the linkage rod 7 is hinged with the side face of the frame 1, and the middle linkage rod 7 is hinged on the same position.
As shown in fig. 1, each side of the frame 1 includes four long walking bars 6 and four short linkage bars 7, wherein the bottom ends of two adjacent middle parts of the four long walking bars 6 are hinged, so that each side forms a three-foot structure, and the whole robot is a hexapod structure, namely a hexapod robot is formed.
In practice, the two rotating arms 5 on the front rotating shaft 2 are not oriented in unison, the two rotating arms 5 on the rear rotating shaft 3 are not oriented in unison, and the two rotating arms 5 on the same side of the frame 1 are not oriented in unison. Therefore, three feet are always separated from the ground in the six feet, and the stability and balance of the robot are fully ensured by three feet grabbing the ground (two feet separated from the ground in one side and one foot grabbing the ground in the other side and two feet grabbing the ground and one foot separated from the ground). The robot is not damaged by human or external factors, and can not be lifted to the ground due to the fact that the single foot and the double feet are grounded and the gravity center is unstable. The hexapod alternately leaves the ground and grabs the ground, and the walking rod 6 has a swinging function, so that walking and obstacle surmounting can be realized. More preferably, the two rotating arms 5 on the front rotating shaft 2 are opposite in orientation, the two rotating arms 5 on the rear rotating shaft 3 are opposite in orientation, and the two rotating arms 5 on the same side of the frame 1 are opposite in orientation, so that better walking and obstacle surmounting are realized.
The driving mechanism comprises a motor 4 arranged on the frame 1, a driving chain wheel 9 fixedly arranged on an output shaft of the motor 4, a driven chain wheel 8 fixedly arranged on the front rotating shaft 2 and a chain 10 sleeved on the driving chain wheel 9 and the driven chain wheel 8. In the preferred embodiment, the motor 4 adopts a speed reduction direct current motor, the transmission adopts a sprocket and rack transmission, a complex speed reducer and a speed reduction gear are not used, the driving is simple and direct, the weight of the structure is reduced, and the manufacturing cost can be greatly reduced. The motor 4 is a 42GA775 direct current speed reduction motor with the voltage of 12V, 24V, the power of 20-100W and the rotating speed of 100 rpm, the motor of the model has stable performance, high rotating speed, large moment and small sound, and the motor adopts thickened metal teeth, radiating fan blades, a central output shaft and a W-shaped gold carbon brush and can bear load to drive a 100KG article. The motor 4 can be externally connected with a 220V alternating current wired power supply, 220V alternating current is converted into 12V-24V direct current, and an electric wire is externally connected to supply power to a mechanism; and the power supply can also be carried out by adopting a self-contained lead-acid battery and a lithium battery. The motor 4 and the front rotating shaft 2 are driven by a chain and sprocket, the power is transmitted stably by the chain and sprocket mechanism, and the slipping phenomenon can not occur. The motor 4 is provided with a relay, so that the rotation speed and forward and backward rotation of the motor 4 can be controlled, and the motion adjustment of the robot in the moving speed, forward and backward directions can be realized. The frame 1 includes a base plate 11, the base plate 11 is mounted on the top surface of the frame 1, and the motor 4 is mounted on the top surface of the base plate 11.
The walking rod 6 and the linkage rod 7 are square aluminum profiles and U-shaped aluminum products which are distributed in a staggered way. In the preferred embodiment, U-shaped aluminum materials and tetragonal aluminum profiles are selected. The aluminum alloy section is hard in material, light in weight and convenient to form and process. In both sides of the frame 1, 8 bars need to be connected. Each side surface comprises two three-rod movable nodes, six two-rod movable nodes and two one-rod movable nodes. In order to enable the rod piece to rotate around the joint (namely rotate around the hinging point), the joint of the rod piece is drilled, the end of the straight rod is rounded, and bolts and nuts are used for fixing. The hinge between the walking rod 6 and the linkage rod 7, the hinge between the rotating arm 5 and the walking rod 6, and the hinge between the walking rod 6 and the walking rod 6, and the hinge between the linkage rod 7 and the frame 1 are connected by bolts and nuts.
In implementation, the motor 4 drives the chain sprocket to drive the front rotating shaft 2 to rotate, so as to drive the rotating arm 5 on the front rotating shaft 2 to rotate 360 degrees, the rotating arm 5 rotates to drive the walking rod 6 on the rotating arm 5 of the rear rotating shaft 3 to swing, and the walking rod 6 is driven to alternately leave and grab the ground together with the swinging action of one walking rod 6, so that walking and obstacle crossing are realized. The six-foot robot can walk and surmount the obstacle through only one driving mechanism, has a simple structure, is stable in walking, and has good climbing, surmounting and loading functions.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present invention should be included in the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (5)
1. The utility model provides a six sufficient robots, including frame (1), set up in preceding pivot (2) in frame (1) front portion with set up in back pivot (3) in frame (1) rear portion, and set up in be used for on frame (1) drive preceding pivot (2) pivoted actuating mechanism, its characterized in that: the driving mechanism comprises a motor (4) arranged on the frame (1), a driving sprocket (9) fixedly arranged on an output shaft of the motor (4), a driven sprocket (8) fixedly arranged on the front rotating shaft (2) and a chain (10) sleeved on the driving sprocket (9) and the driven sprocket (8); the two ends of the front rotating shaft (2) and the rear rotating shaft (3) are respectively provided with a rotating arm (5), the rotating arms (5) are positioned on two sides of the frame (1), two downward walking rods (6) are respectively hinged on the free end of each rotating arm (5), two walking rods (6) which are close to each other on the rotating arms (5) on the same side are hinged at the bottom end, the middle part of each walking rod (6) is hinged with a linkage rod (7), and the other end of each linkage rod (7) is hinged with the side face of the frame (1); the two rotating arms (5) on the front rotating shaft (2) are not consistent in orientation, the two rotating arms (5) on the rear rotating shaft (3) are not consistent in orientation, and the two rotating arms (5) on the same side of the frame (1) are not consistent in orientation.
2. The hexapod robot of claim 1, wherein: the walking rods (6) and the linkage rods (7) are square aluminum profiles which are distributed in a staggered manner; or the walking rod (6) and the linkage rod (7) are U-shaped aluminum materials which are distributed in a staggered way.
3. The hexapod robot of claim 1, wherein: the two rotating arms (5) on the front rotating shaft (2) are opposite in direction, the two rotating arms (5) on the rear rotating shaft (3) are opposite in direction, and the two rotating arms (5) on the same side of the frame (1) are opposite in direction.
4. The hexapod robot of claim 1, wherein: the frame (1) comprises a base plate (11), and the motor (4) is arranged on the top surface of the base plate (11).
5. The hexapod robot of claim 1, wherein: the hinge between the walking rod (6) and the linkage rod (7), the hinge between the rotating arm (5) and the walking rod (6), the hinge between the walking rod (6) and the hinge between the linkage rod (7) and the frame (1) are connected through bolts and nuts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910417928.2A CN110217310B (en) | 2019-05-20 | 2019-05-20 | Six-foot robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910417928.2A CN110217310B (en) | 2019-05-20 | 2019-05-20 | Six-foot robot |
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| Publication Number | Publication Date |
|---|---|
| CN110217310A CN110217310A (en) | 2019-09-10 |
| CN110217310B true CN110217310B (en) | 2024-03-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910417928.2A Active CN110217310B (en) | 2019-05-20 | 2019-05-20 | Six-foot robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100811530B1 (en) * | 2006-12-04 | 2008-03-10 | 건국대학교 산학협력단 | 6 beef or pork hocks transfer robot that use piezoelectric actuator |
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Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI412467B (en) * | 2011-04-11 | 2013-10-21 | Univ Nat Kaohsiung Applied Sci | Hexapod robot device |
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2019
- 2019-05-20 CN CN201910417928.2A patent/CN110217310B/en active Active
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| Publication number | Publication date |
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| CN110217310A (en) | 2019-09-10 |
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