CN111824285A - Multi-leg walking load type robot - Google Patents
Multi-leg walking load type robot Download PDFInfo
- Publication number
- CN111824285A CN111824285A CN202010818575.XA CN202010818575A CN111824285A CN 111824285 A CN111824285 A CN 111824285A CN 202010818575 A CN202010818575 A CN 202010818575A CN 111824285 A CN111824285 A CN 111824285A
- Authority
- CN
- China
- Prior art keywords
- leg
- walking
- rotatably connected
- motor
- rotating rod
- 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.)
- Pending
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
- B62D57/028—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 having wheels and mechanical legs
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of robots, in particular to a multi-leg walking load type robot, which comprises a support for loading, wherein fixing plates are arranged on the support, a first walking mechanism is arranged on the support through each fixing plate, each first walking mechanism comprises a first motor fixedly connected with the fixing plate, a first rotating rod is arranged on an output shaft of the first motor, one end, far away from the first motor, of the first rotating rod is rotatably connected with a first connecting frame, one end, far away from the first rotating rod, of the first connecting frame is rotatably connected with a first walking leg, the fixing plate is rotatably connected with a first connecting rod, one end, far away from the fixing plate, of the first connecting rod is rotatably connected with the end part of the first walking leg, and one end, close to the ground, of the first walking leg is provided with a rotatable and braking driving wheel.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a multi-leg walking load type robot.
Background
With the development of robots, common robots transport articles or facilitate the movement of people, some existing loading robots can move at high speed, but are difficult to cross large obstacles such as doorsills, stairs and the like, are not suitable for running on complex roads such as muddy and gravel lands, and some loading robots can cross large obstacles but cannot move quickly, so that the loading robots are inconvenient to use on various roads.
Disclosure of Invention
Aiming at the defects of the prior art and overcoming the defects of the prior art, the invention aims to provide a multi-leg walking load type robot and solve the problem that the load type robot is inconvenient to use on various road surfaces.
The technical scheme is that the multi-leg walking load type robot comprises a support for loading, wherein fixing plates are arranged on the support, a first walking mechanism is arranged on the support through each fixing plate, each first walking mechanism comprises a first motor fixedly connected with the fixing plate, a first rotating rod is arranged on an output shaft of the first motor, one end, far away from the first motor, of the first rotating rod is rotatably connected with a first connecting frame, one end, far away from the first rotating rod, of the first connecting frame is rotatably connected with a first walking leg, the fixing plate is rotatably connected with a first connecting rod, one end, far away from the fixing plate, of the first connecting rod is rotatably connected with the end of the first walking leg, the first motor drives the first rotating rod to rotate, and under the action of the first connecting frame and the first connecting rod, each first walking mechanism drives the support to move, one end of the first walking leg close to the ground is provided with a driving wheel which can rotate and brake.
Preferably, the bracket is further provided with a second traveling mechanism through each fixing plate, each second traveling mechanism comprises a second motor fixedly connected with the fixing plate, a second rotating rod is arranged on an output shaft of the second motor, one end, far away from the second motor, of the second rotating rod is rotatably connected with a second connecting frame, one end, far away from the second rotating rod, of the second connecting frame is rotatably connected with a second traveling leg, the fixing plate is rotatably connected with a second connecting rod, one end, far away from the fixing plate, of the second connecting rod is rotatably connected with the end of the second traveling leg, so that the second motor drives the second rotating rod to rotate, and each second traveling mechanism drives the bracket to move under the action of the second connecting frame and the second connecting rod.
Preferably, each of the first traveling mechanisms and each of the second traveling mechanisms are distributed in a length direction of the bracket, each of the first traveling mechanisms is symmetrically distributed with respect to the length direction of the bracket, and each of the second traveling mechanisms is symmetrically distributed with respect to the length direction of the bracket.
Preferably, the first connecting frame is of a triangular structure, a corner of the first connecting frame is rotationally connected with the first reinforcing rod, one end, far away from the connecting frame, of the first reinforcing rod is rotationally connected with the fixed plate, the second connecting frame is of a triangular structure, a corner of the second connecting frame is rotationally connected with the second reinforcing rod, and one end, far away from the connecting frame, of the second reinforcing rod is rotationally connected with the fixed plate.
Preferably, the lengths of the first connecting rod, the first reinforcing rod, the second connecting rod and the second reinforcing rod are adjustable.
The invention provides a multi-leg walking load type robot, which has the following beneficial effects compared with the prior art:
1. through first running gear's drive wheel, the loading robot of being convenient for moves on the level land fast, and the loading robot that also is convenient for turns to, through second running gear, the loading robot of being convenient for walks on complicated road surfaces such as stair, mire to make loading robot can use on multiple road surface.
Drawings
FIG. 1 is a schematic diagram of the present invention.
Fig. 2 is a schematic structural diagram of the first and second traveling mechanisms of the present invention.
Fig. 3 is a top view of the present invention.
In the figure: the device comprises a support 1, a fixing plate 2, a first long hole 3, a second long hole 4, a first walking mechanism 5, a second walking mechanism 6, a first motor 10, a first rotating rod 11, a first connecting frame 12, a first walking leg 13, a first connecting rod 14, a first reinforcing rod 15, a driving wheel 16, a second motor 20, a second rotating rod 21, a second connecting frame 22, a second walking leg 23, a second connecting rod 24 and a second reinforcing rod 25.
Detailed Description
The technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without any creative effort belong to the protection scope of the present invention, and in the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, only for the convenience of describing the present invention and simplifying the description, but not for indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance in the description of the present invention, it being noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The present invention will be described in further detail below with reference to specific embodiments and with reference to the attached drawings.
The first embodiment is as follows:
referring to fig. 1-3, the present invention provides a technical solution: a multi-leg walking load type robot comprises a support 1 for loading, articles or people can be loaded through the support 1, fixing plates 2 are arranged on the support 1, the fixing plates 2 are fixedly connected with the support 1, the number of the fixing plates 2 is four, the support 1 is provided with first walking mechanisms 5 through the fixing plates 2, the first walking mechanisms 5 are distributed in the length direction of the support 1, the first walking mechanisms 5 are symmetrically distributed relative to the length direction of the support 1, the number of the first walking mechanisms 5 is four, two walking mechanisms are arranged at the front end and the rear end of the support 1, each first walking mechanism 5 comprises a first motor 10 fixedly connected with the fixing plates 2, a first rotating rod 11, a first connecting frame 12, a first walking leg 13, a first connecting rod 14, a first reinforcing rod 15 and a driving wheel 16, a first rotating rod 11 is arranged on an output shaft of the first motor 10, the first rotating rod 11 is fixedly connected with an output shaft of the first motor 10, a first long hole 3 for the first rotating rod 11 to pass through when rotating is formed in the fixed plate 2, one end of the first rotating rod 11, which is far away from the first motor 10, is rotatably connected with a first connecting frame 12, one end of the first connecting frame 12, which is far away from the first rotating rod 11, is rotatably connected with a first walking leg 13, the fixed plate 2 is rotatably connected with a first connecting rod 14, one end of the first connecting rod 14, which is far away from the fixed plate 2, is rotatably connected with the end part of the first walking leg 13, so that the first motor 10 drives the first rotating rod 11 to rotate, each first walking leg 13 drives the support 1 to move under the action of the first connecting frame 12 and the first connecting rod 14, a rotatable and braked driving wheel 16 is installed at one end, which is close to the ground, the driving wheel 16 is rotatably connected with the first walking leg 13, the driving wheel 16 is a wheel for installing a hub motor, and when moving on the ground, the driving wheel 16 can conveniently and rapidly move through the rotation, when walking on a complex road surface such as stairs and mud, the driving wheels 16 can be braked, and the first motor 10 in each first walking mechanism 5 rotates under the coordination of each first walking mechanism 5, so that the loading robot moves, and meanwhile, the loading robot can steer by controlling different rotating speeds of the driving wheels 16.
In one embodiment, as shown in the drawing, the bracket 1 further mounts the second traveling mechanisms 6 through the fixing plates 2, the second traveling mechanisms 6 are distributed in the length direction of the bracket 1, the second traveling mechanisms 6 are symmetrically distributed relative to the length direction of the bracket 1, the number of the second traveling mechanisms 6 is four, two second traveling mechanisms are respectively arranged at the front end and the rear end of the bracket 1, each second traveling mechanism 6 comprises a second motor 20 fixedly connected with the fixing plate 2, a second rotating rod 21, a second connecting frame 22, a second traveling leg 23, a second connecting rod 24 and a second reinforcing rod 25, the second rotating rod 21 is mounted on the output shaft of the second motor 20, the second rotating rod 21 is fixedly connected with the output shaft of the second motor 20, the fixing plate 2 is provided with a second long hole 4 for the second rotating rod 21 to pass through when rotating, one end of the second rotating rod 21 far away from the second motor 20 is rotatably connected with the second connecting frame 22, one end of the second connecting frame 22, which is far away from the second rotating rod 21, is rotatably connected with the second walking leg 23, the fixed plate 2 is rotatably connected with the second connecting rod 24, one end of the second connecting rod 24, which is far away from the fixed plate 2, is rotatably connected with the end of the second walking leg 23, so that the second motor 20 is formed to drive the second rotating rod 21 to rotate, the second walking leg 23 is under the action of the second connecting frame 22 and the second connecting rod 24, and each second walking mechanism 6 drives the bracket 1 to move, and through the cooperation of each second walking mechanism 6, the loading robot can walk on flat ground or on complex road surfaces such as stairs and muddy roads, wherein when walking on the flat ground, the loading robot can rapidly move through the driving wheel 16 of each first walking mechanism 5, and when walking on complex road surfaces such as stairs and muddy roads, the walking mode can be switched, and the loading robot can move through the cooperation of each second walking mechanism 6.
In one embodiment, as shown in the drawings, the first connecting frame 12 has a triangular structure, a corner of the first connecting frame 12 is rotatably connected to the first reinforcing bar 15, an end of the first reinforcing bar 15 away from the connecting frame is rotatably connected to the fixing plate 2, the second connecting frame 22 has a triangular structure, a corner of the second connecting frame 22 is rotatably connected to the second reinforcing bar 25, and an end of the second reinforcing bar 25 away from the connecting frame is rotatably connected to the fixing plate 2.
In one embodiment, as shown in the drawings, the end of the second walking leg 23 close to the ground is fixedly connected with a buffer column for buffering, and the buffer column is made of rubber materials.
In an embodiment, as shown in the drawings, the lengths of the first connecting rod 14, the first reinforcing rod 15, the second connecting rod 24 and the second reinforcing rod 25 are adjustable, the first connecting rod 14 includes a cross rod, one end of the cross rod is provided with an axial first threaded hole, the other end of the cross rod is provided with an axial second threaded hole, the first threaded hole and the second threaded hole have opposite rotation directions, the cross rod is in threaded connection with the left end rod through the first threaded hole, the cross rod is in threaded connection with the right end rod through the second threaded rod, the length of the first connecting rod 14 is adjustable through rotation of the cross rod, and the structural principles of the first reinforcing rod 15, the second connecting rod 24 and the second reinforcing rod 25 are the same as those of the first connecting rod 14.
The present invention has been described in detail with reference to the specific embodiments and examples, but these are not intended to limit the present invention. Many variations and modifications may be made by one of ordinary skill in the art without departing from the principles of the present invention, which should also be considered as within the scope of the present invention.
Claims (5)
1. Load type robot of many legs walking, including support (1) that is used for the load, installation fixed plate (2), its characterized in that on support (1): the support (1) is provided with first travelling mechanisms (5) through the fixing plates (2), each first travelling mechanism (5) comprises a first motor (10) fixedly connected with the fixing plate (2), a first rotating rod (11) is installed on an output shaft of the first motor (10), one end, far away from the first motor (10), of the first rotating rod (11) is rotatably connected with a first connecting frame (12), one end, far away from the first rotating rod (11), of the first connecting frame (12) is rotatably connected with a first travelling leg (13), the fixing plate (2) is rotatably connected with a first connecting rod (14), one end, far away from the fixing plate (2), of the first connecting rod (14) is rotatably connected with the end of the first travelling leg (13), so that the first motor (10) drives the first rotating rod (11) to rotate, and the first travelling leg (13) is under the action of the first connecting frame (12) and the first connecting rod (14), each first walking mechanism (5) drives the bracket (1) to move, and one end of each first walking leg (13) close to the ground is provided with a driving wheel (16) which can rotate and brake.
2. The multi-leg walking loaded robot of claim 1, wherein: the bracket (1) is further provided with second travelling mechanisms (6) through the fixing plates (2), each second travelling mechanism (6) comprises a second motor (20) fixedly connected with the fixing plate (2), a second rotating rod (21) is arranged on an output shaft of the second motor (20), one end, far away from the second motor (20), of the second rotating rod (21) is rotatably connected with a second connecting frame (22), one end, far away from the second rotating rod (21), of the second connecting frame (22) is rotatably connected with a second travelling leg (23), the fixing plate (2) is rotatably connected with a second connecting rod (24), one end, far away from the fixing plate (2), of the second connecting rod (24) is rotatably connected with the end part of the second travelling leg (23) to form that the second motor (20) drives the second rotating rod (21) to rotate, and the second travelling leg (23) is under the action of the second connecting frame (22) and the second connecting rod (24), and each second walking mechanism (6) drives the support (1) to move.
3. The multi-leg walking loaded robot of claim 2, wherein: the first traveling mechanisms (5) and the second traveling mechanisms (6) are distributed in the length direction of the support (1), the first traveling mechanisms (5) are symmetrically distributed relative to the length direction of the support (1), and the second traveling mechanisms (6) are symmetrically distributed relative to the length direction of the support (1).
4. The multi-leg walking loaded robot of claim 2, wherein: first link (12) are the triangle-shaped structure, a corner of first link (12) rotates with first stiffener (15) to be connected, the one end of link is kept away from in first stiffener (15) with fixed plate (2) rotate to be connected, second link (22) are the triangle-shaped structure, a corner of second link (22) rotates with second stiffener (25) to be connected, the one end of link is kept away from in second stiffener (25) with fixed plate (2) rotate to be connected.
5. The multi-leg walking loaded robot of claim 2, wherein: the lengths of the first connecting rods (14), the first reinforcing rods (15), the second connecting rods (24) and the second reinforcing rods (25) are adjustable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010818575.XA CN111824285A (en) | 2020-08-14 | 2020-08-14 | Multi-leg walking load type robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010818575.XA CN111824285A (en) | 2020-08-14 | 2020-08-14 | Multi-leg walking load type robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111824285A true CN111824285A (en) | 2020-10-27 |
Family
ID=72918608
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010818575.XA Pending CN111824285A (en) | 2020-08-14 | 2020-08-14 | Multi-leg walking load type robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111824285A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112429112A (en) * | 2020-11-30 | 2021-03-02 | 武汉理工大学 | Wheel-foot power switching device based on wheel-walking robot |
| CN112519913A (en) * | 2020-12-04 | 2021-03-19 | 武汉理工大学 | All-terrain self-adaptive wheel-walking robot |
-
2020
- 2020-08-14 CN CN202010818575.XA patent/CN111824285A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112429112A (en) * | 2020-11-30 | 2021-03-02 | 武汉理工大学 | Wheel-foot power switching device based on wheel-walking robot |
| CN112519913A (en) * | 2020-12-04 | 2021-03-19 | 武汉理工大学 | All-terrain self-adaptive wheel-walking robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107640235A (en) | A kind of loading robot that can be moved and can and climb building | |
| US5518081A (en) | All-terrain, all-weather wheelchair | |
| CN111824285A (en) | Multi-leg walking load type robot | |
| CN106114669B (en) | A kind of swinging arm wheeled type unmanned ground vehicle | |
| CN109866552B (en) | Wheel foot deformation type robot walking mechanism | |
| CN108297636B (en) | Multi-shaft all-terrain wheeled vehicle with swing arm telescopic wheel foot structure | |
| WO2013086770A1 (en) | Vehicular transporter for ultra-long loads | |
| CN101380978A (en) | Shrimp-shaped six-wheel mobile robot | |
| CN104058022A (en) | Terrain-adaptive transformable mobile robot | |
| CN107399376A (en) | Suitable for the robot running gear of full landform | |
| CN205521353U (en) | Automatic horizontal equilibrium robot | |
| CN212473715U (en) | Multi-leg walking load type robot | |
| CN212290078U (en) | Running gear that both legs walked | |
| CN207274800U (en) | The full landform robot running gear of double-crawler type | |
| CN110435780B (en) | Wheel-track composite type stair-climbing cargo transporter | |
| CN109153425A (en) | Self-balancing transport device with the pedal platform for carrying out angular movement | |
| CN106473868A (en) | A kind of individual soldier's power-assisted stretcher | |
| CN105539679A (en) | Pull type multi-section modularized bicycle robot mechanism | |
| CN218058350U (en) | Lifting device | |
| CN111806591B (en) | Running gear that both legs walk | |
| CN210212576U (en) | Moving mechanism of robot | |
| CN110155195B (en) | Farmland robot capable of adapting to various road conditions | |
| WO2020258751A1 (en) | Robot and chassis thereof | |
| CN206124647U (en) | Linkage and vehicle | |
| JP2003512226A (en) | Self-propelled drive wheels |
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 |