CN111301553A - Multi-foot robot - Google Patents
Multi-foot robot Download PDFInfo
- Publication number
- CN111301553A CN111301553A CN202010120448.2A CN202010120448A CN111301553A CN 111301553 A CN111301553 A CN 111301553A CN 202010120448 A CN202010120448 A CN 202010120448A CN 111301553 A CN111301553 A CN 111301553A
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- CN
- China
- Prior art keywords
- robot
- legged robot
- module
- servo motor
- polypod
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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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
Abstract
The invention discloses a multi-legged robot, which comprises a multi-legged robot box body, four groups of movable devices arranged at two ends of the inner surface of the multi-legged robot box body and four groups of mechanical feet arranged on the outer surface of the multi-legged robot box body through the movable devices, wherein a control unit for operating the whole multi-legged robot to operate, an environment monitoring device for detecting the surrounding environment, a wireless module for transmitting data, a storage module for storing the use data of the multi-legged robot and an energy storage element for charging, discharging and storing electric energy are arranged in the multi-legged robot box body. The multi-legged robot can quickly adjust the balance degree of the multi-legged robot, keep the multi-legged robot in a stable state, reduce the toppling condition of the multi-legged robot, switch the multi-legged robot from a jumping mode to a sliding mode, reduce vibration generated during the motion of the multi-legged robot, enable the multi-legged robot to move more stably and bring better use prospect.
Description
Technical Field
The invention relates to the field of robots, in particular to a multi-legged robot.
Background
With the development of society and the improvement of living standard of people, the robot industry is rapidly developed, various robots appear, wherein the multi-legged robot can walk on mountain roads and rugged roads and has jumping and rolling functions, and with the development of science and technology, the requirements of people on the robot are higher and higher, so that the existing robot cannot meet the use requirements of people;
present polypod robot has certain drawback when using, the mechanical leg of present polypod robot can only bend the walking usually, it is inconvenient at the angular adjustment of horizontal direction, the condition that the robot emptys can often appear when the robot touches article slope, secondly, present polypod robot can only jump the walking usually, its shank does not stop when using on the level land contacts with ground contact, vibrations are great, influence the stability of robot, influence the life of robot, unsatisfied people's operation requirement, for this reason, we propose a polypod robot.
Disclosure of Invention
The invention mainly aims to provide a multi-legged robot which can effectively solve the problems in the background technology.
In order to achieve the purpose, the invention adopts the technical scheme that:
the multi-foot robot comprises a multi-foot robot box body, four groups of moving devices arranged at two ends of the inner surface of the multi-foot robot box body and four groups of mechanical feet arranged on the outer surface of the multi-foot robot box body through the moving devices, wherein a control unit for operating the whole multi-foot robot is arranged in the multi-foot robot box body, an environment monitoring device for detecting the surrounding environment, a wireless module for transmitting data, a storage module for storing the use data of the multi-foot robot and an energy storage element for charging and discharging and storing electric energy.
Preferably, the moving device comprises a mounting frame, a servo motor, a speed reducer and a motor self-locking device, the servo motor, the speed reducer and the motor self-locking device are all located inside the mounting frame, the motor self-locking device is arranged on the servo motor, the output end of the servo motor is connected with the input end of the speed reducer, and one side of the upper end of the outer surface of the mechanical foot is connected with the output end of the speed reducer.
Through the mobile device that sets up, the mechanical foot of polypod robot passes through the mobile device and installs on the polypod robot box, detects when the polypod robot touches article slope, can start the angle that servo motor adjustment machinery is sufficient, and the equilibrium degree of rapid adjustment polypod robot makes polypod robot keep steady state, reduces the condition that polypod robot emptys.
Preferably, the mechanical foot comprises a connecting end, a thigh with one side outer surface close to the upper end and movably connected with the connecting end, and a shank with one side outer surface close to the upper end and movably connected with the thigh, and a horizontal sliding device is arranged inside the shank.
Preferably, the horizontal sliding device comprises a pulley, a transmission assembly and a servo motor which are movably arranged on the outer surface of the lower leg and close to the lower end, wherein a band-type brake device is arranged on the servo motor, and the servo motor is movably connected with the pulley through the transmission assembly.
Through the horizontal sliding device who sets up, the polypod robot is when the subaerial operation of level, and people can start the servo motor on the mechanical foot, switches the polypod robot to the slip form by the jump form, makes the polypod robot can slide subaerial, the vibrations that produce when reducing the motion of polypod robot, more steady when making the motion of polypod robot, the result of use is better, has prolonged the life of polypod robot moreover.
Preferably, the transmission assembly comprises two groups of transmission rods, a transmission gear arranged on the outer surface of the transmission rod close to one side and a transmission chain arranged on the outer surface of the two groups of transmission gears, the pulley is fixedly arranged on the transmission rod close to the lower end, and the output end of the servo motor is fixedly connected with the transmission rod close to the upper end.
Preferably, the control unit adopts a microprocessor, and the energy storage element comprises a wireless charging module, a power supply and a charging interface connected with the power supply through a wire.
Preferably, the environment monitoring device includes, but is not limited to, one or more of a laser radar distance measuring device, an infrared obstacle measuring sensor, an ultrasonic distance measuring device, a wireless pulse distance measuring device, an inclination sensor and a camera.
Preferably, the wireless module includes, but is not limited to, a ZigBee module, a bluetooth module and a WiFi module for short-distance operation, and a 3G module, a 4G module and a 5G module for long-distance operation, and the storage module includes, but is not limited to, a storage card, a hard disk and a database.
Compared with the prior art, the invention provides a multi-legged robot, which has the following beneficial effects:
1. through the arranged moving device, the mechanical feet of the multi-foot robot are arranged on the box body of the multi-foot robot through the moving device, when the inclination angle sensor detects that the multi-foot robot touches an article to incline, the servo motor can be started to adjust the angle of the mechanical feet, the balance degree of the multi-foot robot is quickly adjusted, the multi-foot robot is kept in a stable state, and the toppling condition of the multi-foot robot is reduced;
2. through the horizontal sliding device who sets up, the polypod robot is when the subaerial operation of level, and people can start the servo motor on the mechanical foot, switches the polypod robot to the slip form by the jump form, makes the polypod robot can slide subaerial, the vibrations that produce when reducing the motion of polypod robot, more steady when making the motion of polypod robot, the result of use is better, has prolonged the life of polypod robot moreover.
The parts of the device not involved are the same as or can be implemented using prior art.
Drawings
FIG. 1 is a block diagram of a multi-legged robot according to the present invention;
FIG. 2 is a side view of a multi-legged robot according to the present invention;
FIG. 3 is a bottom view of a multi-legged robot of the present invention;
FIG. 4 is a front view of a multi-legged robot of the present invention;
FIG. 5 is a partial block diagram of a mechanical foot of a multi-legged robot according to the present invention;
fig. 6 is a partial internal structure view of a mechanical foot in the multi-foot robot of the invention.
In the figure: 1. a multi-legged robot box; 2. a mechanical foot; 3. a mounting frame; 4. a servo motor; 5. a speed reducer; 6. a pulley; 7. a transmission assembly; 8. a servo motor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
A multi-legged robot, as shown in fig. 1-6, comprises a multi-legged robot box 1, four sets of movable devices arranged at two ends of the inner surface of the multi-legged robot box 1 and four sets of mechanical feet 2 arranged on the outer surface of the multi-legged robot box 1 through the movable devices, wherein a control unit for operating the whole multi-legged robot is arranged in the multi-legged robot box 1, an environment monitoring device for detecting the surrounding environment, a wireless module for transmitting data, a storage module for storing the use data of the multi-legged robot and an energy storage element for charging and discharging and storing electric energy.
The moving device comprises a mounting frame 3, a servo motor 4, a speed reducer 5 and a motor self-locking device, the servo motor 4, the speed reducer 5 and the motor self-locking device are all located inside the mounting frame 3, the motor self-locking device is arranged on the servo motor 4, the output end of the servo motor 4 is connected with the input end of the speed reducer 5, and one side of the upper end of the outer surface of the mechanical foot 2 is connected with the output end of the speed reducer 5.
Through the mobile device that sets up, the mechanical foot 2 of polypod robot passes through the mobile device and installs on polypod robot box 1, when inclination sensor detects that polypod robot touches article slope, can start servo motor 4 adjustment mechanical foot 2's angle, the equilibrium degree of rapid adjustment polypod robot makes polypod robot keep steady state, reduces the condition that polypod robot emptys.
The mechanical foot 2 comprises a connecting end, a thigh and a shank, wherein the outer surface of one side of the thigh is close to the upper end and movably connected with the connecting end, the outer surface of one side of the shank is close to the upper end and movably connected with the thigh, and a horizontal sliding device is arranged inside the shank.
The horizontal sliding device comprises a pulley 6, a transmission component 7 and a servo motor 8 which are movably arranged on the outer surface of the lower leg and close to the lower end, wherein a band-type brake device is arranged on the servo motor 8, and the servo motor 8 is movably connected with the pulley 6 through the transmission component 7.
The transmission assembly 7 comprises two groups of transmission rods, a transmission gear arranged on the outer surface of the transmission rod and close to one side of the transmission rod and a transmission chain arranged on the outer surface of the two groups of transmission gears, the pulley 6 is fixedly arranged on the transmission rod close to the lower end of the transmission rod, and the output end of the servo motor 8 is fixedly connected with the transmission rod close to the upper end of the transmission rod.
Through the horizontal sliding device who sets up, the polypod robot is when the subaerial operation of level, people can start servo motor 8 on the mechanical foot 2, switch the polypod robot to the slip form by the jump form, make the polypod robot can slide subaerial, the vibrations that produce when reducing the motion of polypod robot, more steady when making the motion of polypod robot, the result of use is better, and the life of polypod robot has been prolonged moreover.
The control unit adopts a microprocessor, and the energy storage element comprises a wireless charging module, a power supply and a charging interface connected with the power supply through a lead.
The microprocessor processes data generated by the multi-legged robot in normal operation and processes robot state adjustment data transmitted from the database, the power supply supplies power to electronic devices in the whole multi-legged robot, and the multi-legged robot can supply power to the power supply through the wireless charging module and the charging interface.
The environment monitoring device includes, but is not limited to, one or more of a laser radar distance measuring device, an infrared obstacle measuring sensor, an ultrasonic distance measuring device, a wireless pulse distance measuring device, an inclination sensor and a camera.
The environment monitoring device detects the external environment, and the database plans the multi-legged robot movement route according to the external environment, avoids the multi-legged robot to touch the article and damage.
The wireless module comprises but is not limited to a ZigBee module, a Bluetooth module and a WiFi module for short-distance operation and a 3G module, a 4G module and a 5G module for long-distance operation, and the storage module comprises but is not limited to a storage card, a hard disk and a database.
The wireless module transmits data generated when the whole multi-legged robot operates and receives data transmitted from the outside for controlling the operation of the multi-legged robot, and the storage module stores the data generated when the multi-legged robot operates.
It should be noted that the present invention is a multi-legged robot, when in use, people are connected with a database (recording operation data and adjustment data of the multi-legged robot under different conditions) and a remote control console through a wireless module by the multi-legged robot, when in use, the multi-legged robot normally walks and jumps, when the multi-legged robot walks, an environment monitoring device monitors the environment around the multi-legged robot to avoid the multi-legged robot touching an object, when an inclination sensor detects that the multi-legged robot touches the object and inclines, the wireless module sends robot state data to the database, the database compares the data and sends the adjustment data to the multi-legged robot, after the multi-legged robot receives the data, a microprocessor controls the operation of an active device according to the data, a servo motor 4 is started to adjust the angle of a mechanical foot 2, the state of the mechanical foot 2 on the multi-legged robot is adjusted, the balance degree of the multi-legged robot is quickly adjusted, so that the multi-legged robot is restored to a normal running state again, the multi-legged robot is kept in a stable state, and the toppling condition of the multi-legged robot is reduced;
through the horizontal sliding device who sets up, the polypod robot is when the subaerial operation of level, people can start servo motor 8 on the mechanical foot 2, switch the polypod robot to the slip form by the jump form, make the polypod robot can slide subaerial, the vibrations that produce when reducing the motion of polypod robot, more steady when making the motion of polypod robot, the result of use is better, and the life of polypod robot has been prolonged moreover.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. A multi-legged robot, characterized in that: the robot comprises a multi-foot robot box body (1), four groups of moving devices arranged at two ends of the inner surface of the multi-foot robot box body (1) and four groups of mechanical feet (2) arranged on the outer surface of the multi-foot robot box body (1) through the moving devices, wherein a control unit for operating the whole multi-foot robot to operate, an environment monitoring device for detecting the surrounding environment, a wireless module for transmitting data, a storage module for storing the use data of the multi-foot robot and an energy storage element for charging, discharging and storing electric energy are arranged in the multi-foot robot box body (1).
2. The polypod robot of claim 1 wherein: the moving device comprises a mounting frame (3), a servo motor (4), a speed reducer (5) and a motor self-locking device, wherein the servo motor (4), the speed reducer (5) and the motor self-locking device are all located inside the mounting frame (3), the motor self-locking device is arranged on the servo motor (4), the output end of the servo motor (4) is connected with the input end of the speed reducer (5), and one side of the upper end of the outer surface of the mechanical foot (2) is connected with the output end of the speed reducer (5).
3. The polypod robot of claim 2 wherein: the mechanical foot (2) comprises a connecting end, a thigh and a shank, wherein the outer surface of one side of the thigh is close to the upper end and movably connected with the connecting end, the outer surface of one side of the shank is close to the upper end and movably connected with the thigh, and a horizontal sliding device is arranged inside the shank.
4. The polypod robot of claim 3 wherein: the horizontal sliding device comprises a pulley (6), a transmission assembly (7) and a servo motor (8), wherein the pulley (6), the transmission assembly (7) and the servo motor (8) are movably mounted on the outer surface of the lower leg and are close to the lower end, a band-type brake device is arranged on the servo motor (8), and the servo motor (8) is movably connected with the pulley (6) through the transmission assembly (7).
5. The polypod robot of claim 4 wherein: the transmission assembly (7) comprises two groups of transmission rods, a transmission gear arranged on the outer surface of the transmission rod and close to one side of the transmission rod and a transmission chain arranged on the outer surface of the two groups of transmission gears, the pulley (6) is fixedly arranged on the transmission rod close to the lower end of the transmission rod, and the output end of the servo motor (8) is fixedly connected with the transmission rod close to the upper end of the transmission rod.
6. The polypod robot of claim 1 wherein: the control unit adopts a microprocessor, and the energy storage element comprises a wireless charging module, a power supply and a charging interface connected with the power supply through a lead.
7. The polypod robot of claim 1 wherein: the environment monitoring device includes, but is not limited to, one or more of a laser radar distance measuring device, an infrared obstacle measuring sensor, an ultrasonic distance measuring device, a wireless pulse distance measuring device, an inclination sensor and a camera.
8. The polypod robot of claim 1 wherein: the wireless module comprises but is not limited to a ZigBee module, a Bluetooth module and a WiFi module for short-distance operation and a 3G module, a 4G module and a 5G module for long-distance operation, and the storage module comprises but is not limited to a storage card, a hard disk and a database.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010120448.2A CN111301553A (en) | 2020-02-26 | 2020-02-26 | Multi-foot robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010120448.2A CN111301553A (en) | 2020-02-26 | 2020-02-26 | Multi-foot robot |
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| CN111301553A true CN111301553A (en) | 2020-06-19 |
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| CN202010120448.2A Pending CN111301553A (en) | 2020-02-26 | 2020-02-26 | Multi-foot robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111844037A (en) * | 2020-07-22 | 2020-10-30 | 中北大学 | Quadruped robot with autonomous environment cognitive function |
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| CN207157328U (en) * | 2017-07-28 | 2018-03-30 | 天津农学院 | A kind of multivariable mobile platform adaptive for farming and animal husbandry complicated landform |
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| CN109987167A (en) * | 2017-12-29 | 2019-07-09 | 中国核动力研究设计院 | It is a kind of towards the high degree of adaptability robot popular motion platform for relating to core complex environment |
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Application publication date: 20200619 |
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