CN110576917B - Bionic eight-foot robot capable of rolling - Google Patents
Bionic eight-foot robot capable of rolling Download PDFInfo
- Publication number
- CN110576917B CN110576917B CN201910783277.9A CN201910783277A CN110576917B CN 110576917 B CN110576917 B CN 110576917B CN 201910783277 A CN201910783277 A CN 201910783277A CN 110576917 B CN110576917 B CN 110576917B
- Authority
- CN
- China
- Prior art keywords
- foot
- feet
- power
- limb
- worm
- 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.)
- Active
Links
Images
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
-
- 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
The invention discloses a rolling bionic eight-foot robot which comprises a main body, a front and rear foot part, a middle foot part and a power foot part, wherein the front and rear foot part comprises a pair of front feet and a pair of rear feet, the front feet and the rear feet are respectively and symmetrically connected to the front side and the rear side of the main body, the middle foot part comprises a pair of middle feet and two rotary platforms, the power foot part comprises a pair of power feet and a swing platform, the power feet are symmetrically connected to the swing platform, the swing platform is respectively sleeved with a horizontal shaft on the main body through a shaft hole and is driven by the horizontal shaft to rotate around the horizontal shaft, and the front and rear foot part, the middle foot part and the power foot part are contracted relative to the main body to form a sphere so as to be beneficial to rolling. The invention can flexibly and rapidly complete the shape beneficial to rolling through the deformation of the foot limbs of the machine, and then obtains the counterforce through the telescopic action of the pair of power feet to realize the continuous rolling and advancing of the machine, and the moving speed is improved by a plurality of times compared with the conventional advancing.
Description
Technical Field
The invention relates to a rolling bionic eight-foot robot, and belongs to the technical field of robots.
Background
The invention patent CN102728066A discloses a rollable quadruped robot, which utilizes the deformation of a plurality of sections of trunks with radian outer edges to form a sphere beneficial to rolling, and has the advantages of high movement speed and stable movement, but the structure is complex, the transmission scheme is complex, and how to obtain effective power to continuously roll after the deformation is not described in the patent specification, and the robot is lack of maneuverability.
Patent CN1295907A discloses an autonomously rolling spherical robot, which has a spherical shape and can roll and turn under the drive of a built-in motor. And has the characteristics of high movement speed, stable operation state and low energy consumption. However, compared with a foot walking robot, the robot can only move on a relatively flat ground and is weak in adaptability to different terrains.
At present, a multi-legged robot solution for realizing rolling by using trunk deformation is available, but the problem that the transmission scheme is complex, the structure is complex and the implementation is difficult is solved.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a rolling bionic eight-foot robot, which can flexibly and quickly finish the shape beneficial to rolling through the deformation of the machine foot limbs, and then obtains the reaction force through the telescopic action of a pair of power feet to realize the continuous rolling and advancing of the machine, and the moving speed is improved by a plurality of times compared with the conventional advancing.
The invention mainly adopts the technical scheme that:
the utility model provides a bionical eight sufficient robot that can roll, includes main part, preceding back foot part, well foot part and power foot part, wherein, preceding back foot part includes a pair of forefoot and a pair of back foot, a pair of forefoot and a pair of back foot symmetrical connection respectively are in the main part front and back side, well foot part includes a pair of middle foot and two rotary platform mechanism, a pair of middle foot sets up in the main part left and right sides through two rotary platform mechanism respectively, a pair of middle foot realizes rotating around the main part through rotary platform mechanism respectively, just a pair of middle foot is located between forefoot and the back foot respectively, power foot part includes a pair of power foot and swing platform, a pair of power foot symmetrical connection is on swing platform, swing platform cup joints through the horizontal axis on shaft hole and the main part respectively, and rotates around the horizontal axis by horizontal axis drive swing platform, preceding back foot part, The middle foot part and the power foot part contract relative to the main body to form a spherical shape, so that rolling is facilitated.
Preferably, the forefoot comprises a forefoot upper limb, a forefoot lower limb, a lower limb motor, a first worm gear, a first worm and a lower limb connecting shaft, the shaft hole at one end of the upper limbs of the forefeet is connected with the output shaft of the main motor, the main motor is arranged in the main body, the shaft hole at the other end of the upper forefoot limb is connected with the lower forefoot limb in a matching way through a lower limb connecting shaft, one end of the upper forefoot limb connected with the lower forefoot limb is fixedly connected with a first worm wheel, the first worm is rotationally connected with the lower forefoot limb, one end of the first worm is in driving connection with an output shaft of a lower limb motor which is arranged on the lower limbs of the forelegs, the first worm is connected with the first worm wheel in a matching way to realize the relative movement of the upper limbs and the lower limbs of the front feet, the connection mode between the hind feet and the main body is the same as that of the fore feet, the hind feet comprise hind feet upper limbs and hind feet lower limbs, the connection mode and the driving mode between the upper hind-foot limbs and the lower hind-foot limbs are the same as those of the forelegs; the middle foot comprises a middle upper foot limb and a middle lower foot limb, and the connection mode and the driving mode between the middle upper foot limb and the middle lower foot limb are the same as those of the front foot.
Preferably, the rotary platform mechanism of the middle foot part comprises a rotary platform, a second worm wheel, a third worm wheel, a second worm, a third worm, a vertical shaft, a horizontal shaft, a first middle foot motor and a second middle foot motor, the rotary platform is connected with a shaft hole at one end of a middle foot upper limb in a matched manner through the horizontal shaft, one end of the middle foot upper limb connected with the rotary platform is fixedly connected with the second worm wheel, the second worm is vertically and rotatably connected to the rotary platform, one end of the second worm is in driving connection with an output shaft of the first middle foot motor, the second worm wheel is connected with the second worm in a matched manner, the bottom of the rotary platform is fixedly connected with the third worm wheel, and a shaft hole at the bottoms of the third worm wheel and the rotary platform is sleeved on the vertical shaft on the main body and rotates around the vertical shaft; the third worm is rotationally connected to the main body, one end of the third worm is in driving connection with an output shaft of the second middle foot motor, and the third worm is in meshed connection with the third worm wheel.
Preferably, each power foot part comprises a pair of power feet, a swing platform and two movable sliding blocks, each power foot comprises a first power foot upper limb, a second power foot upper limb and a power foot lower limb, the swing platform comprises two swing supports and a lead screw, two ends of the lead screw are respectively connected with the two swing supports in a rotating manner, the two swing supports are respectively connected with a horizontal shaft on the main body in a rotating manner, threads with different rotation directions are respectively processed on the left half part and the right half part of the lead screw, the two movable sliding blocks are respectively connected with the left half part and the right half part of the lead screw in a threaded manner, one end of the lead screw is connected with an output shaft of a lead screw motor installed on the swing platform in a driving manner, one end of the first power foot upper limb is connected with the swing supports in a matching manner through a rotating shaft and is connected with an output shaft of a power foot upper limb driving motor installed on the swing platform in a driving manner, the other end of the second power foot upper limb is connected with the power foot lower limb in a matched mode through a rotating shaft, one end of the second power foot upper limb is connected with the movable sliding block in a matched mode through the rotating shaft, and the other end of the second power foot upper limb is connected with the power foot lower limb in a matched mode through the rotating shaft.
Preferably, the forefoot upper limb, the middle foot upper limb and the rearfoot upper limb are rod-shaped structures, and the forefoot lower limb, the middle foot lower limb, the rearfoot lower limb and the power foot lower limb have spherical outer edges.
Has the advantages that: compared with the prior art, the rolling bionic eight-foot robot is safe and reliable, internal mechanisms of the robot are not easy to damage due to rolling by utilizing the outer edges of the bionic feet, parts are simple in shape and easy to process, the robot can adapt to various terrains, has a relatively large market prospect in the fields of terrain detection, emergency rescue and the like, and is worthy of popularization; the problem of power shortage caused by the fact that the robot can only contact the ground in a short time when the power foot works is avoided.
Drawings
FIG. 1 is an isometric view of the present invention prior to deformation;
FIG. 2 is a front view of the present invention deformed into a rolled condition;
FIG. 3 is a schematic view of the connection of the upper forefoot limb and the lower forefoot limb;
FIG. 4 is a partial block diagram of the midfoot portion of the invention;
FIG. 5 is an overall block diagram of the power foot portion of the present invention;
FIG. 6 is a schematic view of a powered foot partial swing platform of the present invention;
FIG. 7 is a schematic view of the power foot of the present invention in a retracted state;
FIG. 8 is a schematic view of the tumbling condition of the present invention;
in the figure: the walking robot comprises a main body 1, a horizontal shaft 1-1, a front foot 2, a front foot upper limb 2-1, a front foot lower limb 2-2, a first worm wheel 2-3, a first worm 2-4, a lower limb connecting shaft 2-5, a rear foot 3, a rear foot upper limb 3-1, a rear foot lower limb 3-2, a middle foot 4, a middle foot upper limb 4-1, a middle foot lower limb 4-2, a rotary platform mechanism 5, a rotary platform 5-1, a second worm wheel 5-2, a third worm wheel 5-3, a second worm wheel 5-4, a third worm 5-5, a vertical shaft 5-6, a horizontal shaft 5-7, a power foot 6, a first power foot upper limb 6-1, a second power foot upper limb 6-2, a power foot lower limb 6-3, a swinging platform 6-4, a moving slide block 6-5, a swinging support 6-6, And 6-7 of a lead screw.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application are clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
A rolling bionic eight-foot robot comprises a main body 1, a front and rear foot part, a middle foot part and a power foot part, wherein the front and rear foot part comprises a pair of front feet 2 and a pair of rear feet 3, the pair of front feet 2 and the pair of rear feet 3 are respectively and symmetrically connected to the front side and the rear side of the main body 1, the middle foot part comprises a pair of middle feet 4 and two rotating platform mechanisms 5, the pair of middle feet 4 are respectively arranged on the left side and the right side of the main body 1 through the two rotating platform mechanisms 5, the pair of middle feet 4 respectively rotate around the main body through the rotating platform mechanisms 5, the pair of middle feet 4 are respectively positioned between the front feet 2 and the rear feet 3, the power foot part comprises a pair of power feet 6 and swinging platforms 6-4, the pair of power feet 6 are symmetrically connected to the swinging platforms 6-4, the swinging platforms 6-4 are respectively sleeved with a horizontal shaft 1-1 on the main body 1 through shaft holes, and the horizontal shaft 1-1 drives the swing platform 6-4 to rotate around the horizontal shaft 1-1, and the front and rear foot parts, the middle foot part and the power foot part contract relative to the main body 1 to form a sphere, so that the rolling is facilitated.
Preferably, the forefoot 2 comprises a forefoot upper limb 2-1, a forefoot lower limb 2-2, a lower limb motor, a first worm gear 2-3, a first worm 2-4 and a lower limb connecting shaft 2-5, a shaft hole at one end of the forefoot upper limb 2-1 is connected with an output shaft of the main body motor, the main body motor is installed in the main body 1, a shaft hole at the other end of the forefoot upper limb 2-1 is connected with the forefoot lower limb 2-2 in a matching manner through the lower limb connecting shaft 2-5, one end of the forefoot upper limb 2-1 connected with the forefoot lower limb 2-2 is fixedly connected with the first worm gear 2-3, the first worm 2-4 is rotatably connected with the forefoot lower limb 2-2, one end of the first worm 2-4 is in driving connection with the output shaft of the lower limb motor, the lower limb motor is installed on the forefoot lower limb 2-2, the first worm 2-4 is connected with the first worm wheel 2-3 in a matched mode, so that relative motion of a front-foot upper limb 2-1 and a front-foot lower limb 2-2 is realized, the connection mode between the rear foot 3 and the main body 1 is the same as that of the front foot 2, the rear foot 3 comprises a rear-foot upper limb 3-1 and a rear-foot lower limb 3-2, and the connection mode and the driving mode between the rear-foot upper limb 3-1 and the rear-foot lower limb 3-2 are the same as those of the front foot 2; the middle foot 4 comprises a middle upper foot limb 4-1 and a middle lower foot limb 4-2, and the connection mode and the driving mode between the middle upper foot limb 4-1 and the middle lower foot limb 4-2 are the same as those of the front foot 2.
Preferably, the rotating platform mechanism 5 of the midfoot portion comprises a rotating platform 5-1, a second worm wheel 5-2, a third worm wheel 5-3, a second worm 5-4, a third worm 5-5, a vertical shaft 5-6, a horizontal shaft 5-7, a first midfoot motor and a second midfoot motor, wherein the rotating platform 5-1 is in fit connection with a shaft hole at one end of a midfoot upper limb 4-1 through the horizontal shaft 5-7, one end of the midfoot upper limb 4-1 connected with the rotating platform 5-1 is fixedly connected with the second worm wheel 5-2, the second worm 5-4 is vertically and rotatably connected with the rotating platform 5-1, one end of the second worm 5-4 is in drive connection with an output shaft of the first midfoot motor, the second worm wheel 5-2 is in fit connection with the second worm 5-4, the bottom of the rotating platform 5-1 is fixedly connected with a third worm gear 5-3, and the third worm gear 5-3 and a shaft hole at the bottom of the rotating platform 5-1 are sleeved on a vertical shaft 5-6 on the main body 1 and rotate around the vertical shaft 5-6; the third worm 5-5 is rotatably connected to the main body 1, one end of the third worm 5-5 is in driving connection with an output shaft of the second midfoot motor, and the third worm 5-5 is in meshing connection with the third worm wheel 5-3. In the invention, the upper middle-foot limb 4-1 and the lower middle-foot limb 4-2 can rotate relative to the main body as a whole along with the rotating platform mechanism 5, thereby realizing the multi-degree-of-freedom rotation of the middle foot 4.
Preferably, the power foot part comprises a pair of power feet 6, a swinging platform 6-4 and two moving sliders 6-5, each power foot 6 comprises a first power foot upper limb 6-1, a second power foot upper limb 6-2 and a power foot lower limb 6-3, the swinging platform 6-4 comprises two swinging brackets 6-6 and a lead screw 6-7, two ends of the lead screw 6-7 are respectively and rotatably connected with the two swinging brackets 6-6, the two swinging brackets 6-6 are respectively and rotatably connected with a horizontal shaft 1-1 on the main body 1, the left half part and the right half part of the lead screw 6-7 are respectively provided with threads with different rotation directions, the two moving sliders 6-5 are respectively and rotatably connected with the left half part and the right half part of the lead screw 6-7, one end of the screw 6-7 is in driving connection with an output shaft of a screw motor installed on the swing platform 6-4, one end of the first power foot upper limb 6-1 is in matching connection with the swing bracket 6-6 through a rotating shaft and is in driving connection with an output shaft of a power foot upper limb driving motor installed on the swing platform 6-4, the other end of the first power foot upper limb 6-1 is in matching connection with the power foot lower limb 6-3 through a rotating shaft, one end of the second power foot upper limb 6-2 is in matching connection with the movable sliding block 6-5 through a rotating shaft, and the other end of the second power foot upper limb 6-3 is in matching connection with the power foot lower limb 6-3 through a rotating shaft.
Preferably, the forefoot upper limb 2-1, the middle foot upper limb 4-1 and the hindfoot upper limb 3-1 are rod-shaped structures, and the forefoot lower limb 2-2, the middle foot lower limb 4-2, the hindfoot lower limb 3-2 and the power foot lower limb 63 all have spherical outer edges.
The working principle of the invention is as follows:
when the machine is changed from conventional running to rolling running, the front and rear feet are divided into a front foot part and a rear foot part, the first worm 5-4 of the lower front foot 22 (lower rear foot 3-2) is driven by the lower limb motor to rotate, so that the first worm wheel 2-3 matched and connected with the first worm 2-4 drives the lower front foot 2-2 (lower rear foot 3-2) to rotate, the lower front foot 2-2 (lower rear foot 3-2) is rotated and folded relative to the upper front foot 2-1 (upper rear foot 3-1), the spherical outer edge of the lower front foot 2-2 (lower rear foot 3-2) is contacted with the ground, the spherical outer edges of the lower front foot 2-2 and the lower rear foot 3-2 form a rolling non-closed sphere, in addition, the lower body motor arranged on the main body 1 drives the upper front foot 2-1 (upper rear foot 3-1) to rotate, thereby adjusting the position of the forefoot and hindfoot portions to obtain a rolling-facilitating spherical structure, as shown in fig. 2; meanwhile, in the middle foot part, the rotating platform 5-1 is in matched transmission with the third worm 5-5 through the third worm wheel 5-3, so that the rotating platform rotates around a vertical shaft 5-6 on the main body 1, the rotating axis of the middle foot upper limb 4-1 is vertical to the rotating axis of the front foot upper limb 2-1 (the rear foot upper limb 3-1), the middle foot lower limb 4-2 can be symmetrically positioned at two sides of the main body 1, and meanwhile, the middle foot lower limb 4-2 is rotationally folded relative to the middle foot upper limb 4-1 (the same rotating folding mode as that of the front foot lower limb 2-2 relative to the front foot upper limb 2-1), so that the outer edge of the middle foot lower limb 4-2 forms a non-closed spherical lower part, as shown in fig. 2, and finally, the rolling state is completed through deformation. At the moment, the robot is powered by the extension and contraction of the lower power foot limbs of the power foot part, as shown in the figures 5-7, the two movable sliding blocks 6-5 are controlled by the screw rod motor to rotate through driving the screw rods 6-7 to move outwards or inwards symmetrically at the same time, so that the extension and contraction of the lower power foot limbs 6-3 are controlled by the upper power foot limbs 6-2, the upper power foot limbs 6-1 are driven by the upper power foot limb motor to rotate, and the lower power foot limbs 6-3 are controlled to rotate at a certain angle relative to the swing platform 6-4 by the upper power foot limbs 6-1.
In the invention, as shown in fig. 6, the left part and the right part of the screw rod 6-7 are provided with threads with different turning directions (the middle can be separated by a nut and other devices), one part is left-handed and the other part is right-handed, when the screw rod motor on the swing platform 6-4 drives the screw rod 6-7 to rotate, because the screw rod 6-7 can only rotate towards one direction, the two moving sliding blocks can simultaneously and symmetrically move outwards or inwards through the threads with different turning directions. As shown in fig. 7, the extension power foot 6 is on the left side, and the retraction power foot 6 is on the right side. After the power foot 6 extends out, a thrust force is given to the ground, and the machine obtains a reaction force and is pushed by the power foot to roll forwards, as shown in fig. 8.
During rolling, in the process that the power foot 6 extends out, the swing platform is not static relative to the main body, but swings at an opposite angular speed relative to the main body (the swing platform 6-4 is driven to rotate around the horizontal shaft 1-1 by the horizontal shaft driven by the motor arranged on the main body, which belongs to the conventional technical means and is not detailed), as shown in fig. 6, the power foot part swings around the horizontal shaft relative to the main body at an angle in the rolling process, so that the power foot can effectively and continuously push the ground when extending out every time, and the power foot can not be in short-time contact with the ground due to rolling of the machine, and the power foot part can continuously roll and move quickly.
The invention can realize conventional advancing and rolling advancing, and when the machine advances conventionally, the linear advancing and the rotary motion of the machine can be realized by utilizing the three pairs of feet of the front group, the rear foot and the middle foot to be matched with each other; when the robot rolls, the front foot, the rear foot and the middle foot are respectively folded and deformed, the arc-shaped outer edges of the lower limbs of the four pairs of feet form a non-closed sphere which is favorable for rolling, then a thrust force is exerted on the ground by the extension of the power foot in the rolling process to obtain a reaction force to push the robot to roll, and the power foot 6 can always effectively pedal the ground to obtain the reaction force to keep the robot continuously roll through the swing of the swing platform 6-4 in the rolling process of the robot.
In the invention, the installation positions of the motors are not shown in the attached drawings, and the connection relation and the installation mode between the output shafts of the motors and each part belong to the conventional technical means, so the detailed description is not provided.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (3)
1. The utility model provides a bionical eight sufficient robots that can roll which characterized in that: the walking robot comprises a main body, a front and rear foot part, a middle foot part and a power foot part, wherein the front and rear foot part comprises a pair of front feet and a pair of rear feet which are respectively and symmetrically connected to the front side and the rear side of the main body, the middle foot part comprises a pair of middle feet and two rotary platform mechanisms, the pair of middle feet are respectively arranged on the left side and the right side of the main body through the two rotary platform mechanisms, the pair of middle feet respectively rotate around the main body through the rotary platform mechanisms, the pair of middle feet are respectively positioned between the front feet and the rear feet, the power foot part comprises a pair of power feet and a swing platform, the pair of power feet are symmetrically connected to the swing platform, the swing platform is respectively sleeved with a horizontal shaft on the main body through a shaft hole and is driven by the horizontal shaft to rotate around the horizontal shaft, the front and rear foot part, the middle foot part and the power foot part are contracted relative to the main body to form a sphere, the rolling is facilitated;
the front foot comprises a front upper limb, a front lower limb, a lower limb motor, a first worm gear, a first worm and a lower limb connecting shaft, the shaft hole at one end of the upper limbs of the forefeet is connected with the output shaft of the main motor, the main motor is arranged in the main body, the shaft hole at the other end of the upper forefoot limb is connected with the lower forefoot limb in a matching way through a lower limb connecting shaft, one end of the upper forefoot limb connected with the lower forefoot limb is fixedly connected with a first worm wheel, the first worm is rotationally connected with the lower forefoot limb, one end of the first worm is in driving connection with an output shaft of a lower limb motor which is arranged on the lower limbs of the forelegs, the first worm is connected with the first worm wheel in a matching way to realize the relative movement of the upper limbs and the lower limbs of the front feet, the connection mode between the hind feet and the main body is the same as that of the fore feet, the hind feet comprise hind feet upper limbs and hind feet lower limbs, the connection mode and the driving mode between the upper hind-foot limbs and the lower hind-foot limbs are the same as those of the forelegs; the middle foot comprises a middle-foot upper limb and a middle-foot lower limb, and the connection mode and the driving mode between the middle-foot upper limb and the middle-foot lower limb are the same as those of the front foot;
the rotary platform mechanism of the middle foot part comprises a rotary platform, a second worm wheel, a third worm wheel, a second worm, a third worm, a vertical shaft, a transverse shaft, a first middle foot motor and a second middle foot motor, wherein the rotary platform is connected with a shaft hole at one end of a middle foot upper limb in a matched manner through the transverse shaft, one end of the middle foot upper limb connected with the rotary platform is fixedly connected with the second worm wheel, the second worm is vertically and rotatably connected onto the rotary platform, one end of the second worm is in driving connection with an output shaft of the first middle foot motor, the second worm wheel is connected with the second worm in a matched manner, the bottom of the rotary platform is fixedly connected with the third worm wheel, and a shaft hole at the bottom of the third worm wheel and the rotary platform is sleeved on the vertical shaft on the main body and rotates around the vertical shaft; the third worm is rotationally connected to the main body, one end of the third worm is in driving connection with an output shaft of the second middle foot motor, and the third worm is in meshed connection with the third worm wheel.
2. The bionic eight-footed robot capable of rolling over according to claim 1, wherein the power foot part comprises a pair of power feet, a swing platform and two moving sliders, each power foot comprises a first power foot upper limb, a second power foot upper limb and a power foot lower limb, the swing platform comprises two swing brackets and a lead screw, two ends of the lead screw are respectively connected with the two swing brackets in a rotating way, the two swing brackets are respectively connected with a horizontal shaft on the main body in a rotating way, threads with different rotation directions are respectively processed on the left half part and the right half part of the lead screw, the two moving sliders are respectively connected with the left half part and the right half part of the lead screw in a threaded way, one end of the lead screw is connected with an output shaft of a lead screw motor installed on the swing platform in a driving way, one end of the first power foot upper limb is connected with the swing brackets in a matching way through a rotating shaft, and with the output shaft drive connection of installing power foot upper limbs driving motor on swing platform, the other end with power foot low limbs are connected through the pivot cooperation, the one end of second power foot upper limbs with remove the slider and connect through the pivot cooperation, the other end with power foot low limbs are connected through the pivot cooperation.
3. The tumbling biomimetic eight-footed robot according to claim 2, characterized in that: the upper limbs of the front feet, the upper limbs of the middle feet and the upper limbs of the rear feet are all rod-shaped structures, and the lower limbs of the front feet, the lower limbs of the middle feet, the lower limbs of the rear feet and the lower limbs of the power feet are all provided with spherical outer edges.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910783277.9A CN110576917B (en) | 2019-08-23 | 2019-08-23 | Bionic eight-foot robot capable of rolling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910783277.9A CN110576917B (en) | 2019-08-23 | 2019-08-23 | Bionic eight-foot robot capable of rolling |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110576917A CN110576917A (en) | 2019-12-17 |
| CN110576917B true CN110576917B (en) | 2021-12-10 |
Family
ID=68811864
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910783277.9A Active CN110576917B (en) | 2019-08-23 | 2019-08-23 | Bionic eight-foot robot capable of rolling |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110576917B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111532355B (en) * | 2020-05-20 | 2022-03-11 | 南京信息工程大学 | Leg mechanism with grabbing function |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0074286A2 (en) * | 1981-09-04 | 1983-03-16 | International Robotic Engineering Inc. | Robot system with legs or arms |
| JP2003305671A (en) * | 2002-04-11 | 2003-10-28 | Bokushi Mutsukawa | Spherical wheel vehicle and spherical wheel robot |
| CN103693124A (en) * | 2013-05-24 | 2014-04-02 | 北京航空航天大学 | Transformable spherical robot |
| CN206544552U (en) * | 2017-03-20 | 2017-10-10 | 中国石油大学(华东) | A kind of novel ball Hexapod Robot |
| CN107284543A (en) * | 2017-06-28 | 2017-10-24 | 青岛港湾职业技术学院 | A kind of compound motion mechanical ball |
| CN207045490U (en) * | 2017-07-07 | 2018-02-27 | 华中科技大学 | A kind of spherical Bian Bao robots |
-
2019
- 2019-08-23 CN CN201910783277.9A patent/CN110576917B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0074286A2 (en) * | 1981-09-04 | 1983-03-16 | International Robotic Engineering Inc. | Robot system with legs or arms |
| JP2003305671A (en) * | 2002-04-11 | 2003-10-28 | Bokushi Mutsukawa | Spherical wheel vehicle and spherical wheel robot |
| CN103693124A (en) * | 2013-05-24 | 2014-04-02 | 北京航空航天大学 | Transformable spherical robot |
| CN206544552U (en) * | 2017-03-20 | 2017-10-10 | 中国石油大学(华东) | A kind of novel ball Hexapod Robot |
| CN107284543A (en) * | 2017-06-28 | 2017-10-24 | 青岛港湾职业技术学院 | A kind of compound motion mechanical ball |
| CN207045490U (en) * | 2017-07-07 | 2018-02-27 | 华中科技大学 | A kind of spherical Bian Bao robots |
Non-Patent Citations (1)
| Title |
|---|
| 八足机器人步行机制及稳定性研究;许俊伟;《电子技术及信息科学》;20101227;全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110576917A (en) | 2019-12-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107554637B (en) | Six-foot obstacle crossing robot | |
| CN206171601U (en) | Bionical conveying robot of wheel mutual transform of leg | |
| CN106585761B (en) | A kind of planar linkage formula four feet walking robot of imitative equine gait | |
| CN111469946B (en) | Bionic mobile robot with crawling and rolling functions | |
| CN105667624B (en) | Electric drive four-leg bionic robot | |
| CN107140045B (en) | Spoke rotational deformation formula wheel carries out the compound running gear of leg | |
| CN106542018B (en) | A kind of semi-passive double feet walking machine with bionical articulationes metatarsophalangeae | |
| CN110576917B (en) | Bionic eight-foot robot capable of rolling | |
| CN105015642B (en) | By single motor-driven semi-passive walking device and its rotating direction control method | |
| CN106494524B (en) | A kind of half flight formula chemical sprayer | |
| CN104512493B (en) | Control method of gear transmission halving upper body energy-saving passive walking device | |
| CN107298137A (en) | One kind is lain prone horizontal walking robot | |
| CN2860973Y (en) | Bionic mechanical horse | |
| CN114056452A (en) | Polymorphic quadruped robot and motion mode thereof | |
| CN106585762A (en) | Bionic robot rat | |
| CN207670528U (en) | Bionical mobile robot device | |
| CN206123679U (en) | Humanoid robot is out of shape to high trafficability characteristic | |
| CN103830891B (en) | The portable tennis picking machine of hand push | |
| CN114132406B (en) | Turnover type wheel-leg robot | |
| Bai et al. | Amphibious robot with a novel composite propulsion mechanism | |
| CN109367641B (en) | Eight-foot crawling robot | |
| CN211765936U (en) | Linear motion walking device of robot | |
| CN113602528A (en) | Reconfigurable wheel leg moving device for Mars detection | |
| CN206797518U (en) | Sufficient formula intelligent walking dolly | |
| CN206511007U (en) | Bionic machine mouse |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |