CN111824285B - Multi-leg walking load type robot - Google Patents
Multi-leg walking load type robot Download PDFInfo
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- CN111824285B CN111824285B CN202010818575.XA CN202010818575A CN111824285B CN 111824285 B CN111824285 B CN 111824285B CN 202010818575 A CN202010818575 A CN 202010818575A CN 111824285 B CN111824285 B CN 111824285B
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- rod
- rotationally connected
- fixed plate
- connecting frame
- motor
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- 230000007246 mechanism Effects 0.000 claims abstract description 42
- 230000003014 reinforcing effect Effects 0.000 claims description 24
- 244000309464 bull Species 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—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
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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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- 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 a fixed plate is arranged on the support, a first walking mechanism is arranged on the support through each fixed plate, each first walking mechanism comprises a first motor fixedly connected with the fixed plate, a first rotating rod is arranged on an output shaft of the first motor, one end of the first rotating rod, which is far away from the first motor, is rotationally connected with a first connecting frame, one end of the first connecting frame, which is far away from the first rotating rod, is rotationally connected with a first connecting rod, one end of the first connecting rod, which is far away from the fixed plate, is rotationally connected with the end of the first walking leg, one end of the first walking leg, which is close to the ground, is provided with a rotatable and braked driving wheel, and the multi-leg walking load type robot is convenient for the load type robot to be used on various roads.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a load type robot walking with multiple legs.
Background
With the development of robots, conventional robots are used for transporting objects or facilitating the movement of people, and existing load robots can move at high speed, but are difficult to span larger obstacles, such as doorsills, stairs and the like, and are not suitable for running on complex roads, such as muddy ground, crushed stone ground and the like, and can span larger obstacles, but cannot move quickly, so that the load robots are inconvenient to use on various roads.
Disclosure of Invention
Aiming at overcoming the defects of the prior art, the invention aims to provide a multi-leg walking load type robot, which solves the problem that the load type robot is inconvenient to use on various pavements.
The technical scheme is that the multi-leg walking load type robot comprises a support for loading, a fixed plate is arranged on the support, a first walking mechanism is arranged on the support through each fixed plate, each first walking mechanism comprises a first motor fixedly connected with the fixed plate, a first rotating rod is arranged on an output shaft of the first motor, one end of the first rotating rod, far away from the first motor, is rotatably connected with the first connecting frame, one end of the first connecting frame, far away from the first rotating rod, is rotatably connected with the first walking leg, one end of the first connecting rod, far away from the fixed plate, is rotatably connected with the end of the first walking leg, a structure is formed in which the first motor drives the first rotating rod to rotate, the first walking leg is driven by the first motor under the action of the first connecting frame and the first connecting rod, and one end, close to the ground, of the first walking leg is provided with a rotatable and braked driving wheel.
Preferably, the support is further provided with a second travelling mechanism through each fixing plate, each second travelling mechanism comprises a second motor fixedly connected with the fixing plate, a second rotating rod is installed on an output shaft of the second motor, one end of the second rotating rod, which is far away from the second motor, is rotationally connected with a second connecting frame, one end of the second connecting frame, which is far away from the second rotating rod, is rotationally connected with a second travelling leg, the fixing plate is rotationally connected with a second connecting rod, one end of the second connecting rod, which is far away from the fixing plate, is rotationally connected with an end part of the second travelling leg, the second motor drives the second rotating rod to rotate, and the second travelling leg drives the support to move under the action of the second connecting frame and the second connecting rod.
Preferably, each first travelling mechanism and each second travelling mechanism are distributed in the length direction of the support, each first travelling mechanism is symmetrically distributed relative to the length direction of the support, and each second travelling mechanism is symmetrically distributed relative to the length direction of the support.
Preferably, the first connecting frame is in a triangle structure, one side angle of the first connecting frame is rotationally connected with the first reinforcing rod, one end of the first reinforcing rod away from the connecting frame is rotationally connected with the fixed plate, the second connecting frame is in a triangle structure, one corner of the second connecting frame is rotationally connected with the second reinforcing rod, and one end of the second reinforcing rod away from the connecting frame 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 beneficial effects that compared with the prior art:
1. Through the drive wheel of first running gear, the load robot of being convenient for also is convenient for turn to by the load robot on flat ground fast movement, through the second running gear, is convenient for load robot walk on complicated road surface such as stair, muddy to make load robot can use on multiple road surface.
Drawings
FIG. 1 is a schematic diagram of the present invention.
Fig. 2 is a schematic structural view of a first travelling mechanism and a second travelling mechanism of the present invention.
Fig. 3 is a top view of the present invention.
In the figure: 1 bracket, 2 fixed plate, 3 first slot, 4 second slot, 5 first running gear, 6 second running gear, 10 first motor, 11 first bull stick, 12 first link, 13 first walking leg, 14 head rod, 15 first reinforcing rod, 16 drive wheel, 20 second motor, 21 second bull stick, 22 second link, 23 second walking leg, 24 second connecting rod, 25 second reinforcing rod.
Detailed Description
The following description of the embodiments of the present invention will be made more apparent and fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which may be made by those skilled in the art without the inventive faculty, are intended to be within the scope of the present invention, and in the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are directions or positional relationships based on the drawings, which are merely for convenience of description and simplification of the description, and do not indicate or imply that the apparatus or elements referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," "third," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying any particular importance in the description of the present invention, but rather as being construed broadly as the terms "mounted," "connected," "coupled," or "connected" unless expressly specified or limited otherwise, e.g., as either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The invention will now be described in further detail by way of specific examples of embodiments in connection with the accompanying drawings.
Embodiment one:
Referring to fig. 1-3, the present invention provides a technical solution: the multi-leg walking load type robot comprises a support 1 for loading, wherein articles or personnel can be borne by the support 1, a fixed plate 2 is arranged on the support 1, the fixed plate 2 is fixedly connected with the support 1, the number of the fixed plates 2 is four, the support 1 is provided with first walking mechanisms 5 by each fixed plate 2, each first walking mechanism 5 is distributed in the length direction of the support 1, each first walking mechanism 5 is symmetrically distributed relative to the length direction of the support 1, the number of the first walking mechanisms 5 is four, two first walking mechanisms 10 are respectively 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 fixed plate 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, the first rotating rod 11 is arranged on the output shaft of the first motor 10, the first rotating rod 11 is fixedly connected with the output shaft of the first motor 10, the fixed plate 2 is provided with a first long hole 3 which is used for passing through when the first rotating rod 11 rotates, one end of the first rotating rod 11, which is far away from the first motor 10, is rotationally connected with the first connecting frame 12, one end of the first connecting frame 12, which is far away from the first rotating rod 11, is rotationally connected with the first walking leg 13, the fixed plate 2 is rotationally connected with the first connecting rod 14, one end of the first connecting rod 14, which is far away from the fixed plate 2, is rotationally connected with the end of the first walking leg 13, the first motor 10 is formed to drive the first rotating rod 11 to rotate, the first walking legs 13 are under the action of the first connecting frame 12 and the first connecting rod 14, each first walking mechanism 5 drives the support 1 to move, one end of the first walking leg 13, which is close to the ground, is provided with a rotatable and braked driving wheel 16, the driving wheel 16 is rotationally connected with the first walking leg 13, when the robot moves on the flat ground, the robot is convenient to move quickly through the rotation of the driving wheels 16, when the robot walks on complex roads such as stairs, mud and the like, the driving wheels 16 can be braked firstly, under the cooperation of the first travelling mechanisms 5, the first motors 10 in the first travelling mechanisms 5 rotate, so that the load robot moves, and meanwhile, the rotation speed of the driving wheels 16 can be controlled to be different, so that the load robot turns.
In an embodiment, as shown in the drawings, the bracket 1 is further provided with second travelling mechanisms 6 through each fixing plate 2, each second travelling mechanism 6 is distributed in the length direction of the bracket 1, each second travelling mechanism 6 is symmetrically distributed relative to the length direction of the bracket 1, the number of the second travelling mechanisms 6 is four, two second travelling mechanisms are respectively arranged at the front end and the rear end of the bracket 1, each second travelling 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 travelling leg 23, a second connecting rod 24 and a second reinforcing rod 25, the second rotating rod 21 is arranged 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, one end of the fixing plate 2, which is far away from the second motor 20, is rotationally connected with the second connecting frame 22, one end of the second connecting frame 22 far away from the second rotating rod 21 is rotationally connected with the second walking leg 23, the fixed plate 2 is rotationally connected with the second connecting rod 24, one end of the second connecting rod 24 far away from the fixed plate 2 is rotationally connected with the end of the second walking leg 23, the second motor 20 is formed to drive the second rotating rod 21 to rotate, the second walking leg 23 is driven by the second connecting frame 22 and the second connecting rod 24 to drive the bracket 1 to move by each second walking mechanism 6, the loading robot can walk on flat ground or complex roads such as stairs, mud and the like through the cooperation of each second walking mechanism 6, the driving wheel 16 of each first walking mechanism 5 can rapidly move when walking on flat ground, and the walking mode can be switched when walking on complex roads such as stairs, mud and the like, the movement is performed by the cooperation of the second travelling mechanisms 6.
In an embodiment, according to the drawings, the first connecting frame 12 has a triangle structure, one corner of the first connecting frame 12 is rotatably connected with the first reinforcing rod 15, one end of the first reinforcing rod 15 away from the connecting frame is rotatably connected with the fixing plate 2, the second connecting frame 22 has a triangle structure, one corner of the second connecting frame 22 is rotatably connected with the second reinforcing rod 25, and one end of the second reinforcing rod 25 away from the connecting frame is rotatably connected with the fixing plate 2.
In one embodiment, according to the drawings, one end of the second walking leg 23 near the ground is fixedly connected with a buffer column for buffering, and the buffer column is made of rubber material.
In an embodiment, according to the drawings, the length of the first connecting rod 14, the first reinforcing rod 15, the second connecting rod 24 and the second reinforcing rod 25 is adjustable, the first connecting rod 14 comprises 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 rotation direction of the first threaded hole is opposite to that of the second threaded hole, 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, and the length of the first connecting rod 14 is adjustable through the rotation of the cross rod, wherein 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 by way of specific embodiments and examples, but these should not be construed as limiting the invention. Many variations and modifications may be made by one skilled in the art without departing from the principles of the invention, which is also considered to be within the scope of the invention.
Claims (3)
1. The utility model provides a load type robot of many legs walking, is including support (1) that are used for the load, install fixed plate (2), its characterized in that on support (1): the support (1) is provided with an outer side travelling mechanism (5) through each fixed plate (2), each outer side travelling mechanism (5) comprises a first motor (10) fixedly connected with the fixed plate (2), a first rotating rod (11) is arranged on an output shaft of the first motor (10), one end of the first rotating rod (11) away from the first motor (10) is rotationally connected with a first connecting frame (12), one end of the first connecting frame (12) away from the first rotating rod (11) is rotationally connected with a first travelling leg (13), one end of the fixed plate (2) is rotationally connected with a first connecting rod (14), one end of the first connecting rod (14) away from the fixed plate (2) is rotationally connected with the end of the first travelling leg (13) to form a structure that the first motor (10) drives the first rotating rod (11), the first travelling leg (13) is rotationally connected with the first connecting frame (12) under the action of the first connecting rod (14), and each outer side travelling mechanism (5) drives the support (1) to move, and the first travelling mechanism (13) is close to the ground (16) and can be mounted on the ground;
The support (1) is further provided with an inner side travelling mechanism (6) through each fixed plate (2), each inner side travelling mechanism (6) comprises a second motor (20) fixedly connected with the fixed 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 rotationally connected with a second connecting frame (22), one end, far away from the second rotating rod (21), of the second connecting frame (22) is rotationally connected with a second travelling leg (23), one end, far away from the fixed plate (2), of the second connecting rod (24) is rotationally connected with the end of the second travelling leg (23), and the second motor (20) drives the second rotating rod (21) to rotate, and under the action of the second connecting frame (22) and the second connecting rod (24), each inner side travelling mechanism (6) drives the support (1) to move;
each outer traveling mechanism (5) and each inner traveling mechanism (6) are distributed in the length direction of the bracket (1);
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.
2. The multi-legged walking load robot according to claim 1, wherein: the outer travelling mechanisms (5) are symmetrically distributed relative to the length direction of the support (1), and the inner travelling mechanisms (6) are symmetrically distributed relative to the length direction of the support (1).
3. The multi-legged walking load robot according to claim 1, wherein: the first connecting frame (12) is of a triangle structure, one side corner of the first connecting frame (12) is rotationally connected with the first reinforcing rod (15), one end of the first reinforcing rod (15) away from the connecting frame is rotationally connected with the fixed plate (2), the second connecting frame (22) is of a triangle structure, one side corner of the second connecting frame (22) is rotationally connected with the second reinforcing rod (25), and one end of the second reinforcing rod (25) away from the connecting frame is rotationally connected with the fixed plate (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010818575.XA CN111824285B (en) | 2020-08-14 | 2020-08-14 | Multi-leg walking load type robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010818575.XA CN111824285B (en) | 2020-08-14 | 2020-08-14 | Multi-leg walking load type robot |
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| CN111824285A CN111824285A (en) | 2020-10-27 |
| CN111824285B true CN111824285B (en) | 2024-07-26 |
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| CN202010818575.XA Active CN111824285B (en) | 2020-08-14 | 2020-08-14 | Multi-leg walking load type robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112429112B (en) * | 2020-11-30 | 2023-03-24 | 武汉理工大学 | Wheel-foot power switching device based on wheel-walking robot |
| CN112519913B (en) * | 2020-12-04 | 2022-07-19 | 武汉理工大学 | All-terrain self-adaptive wheel-walking robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN212473715U (en) * | 2020-08-14 | 2021-02-05 | 河南锐之信电子技术有限公司 | Multi-leg walking load type robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US6068073A (en) * | 1996-05-10 | 2000-05-30 | Cybernet Systems Corporation | Transformable mobile robot |
| CN104369790B (en) * | 2014-09-04 | 2016-11-23 | 中国科学院合肥物质科学研究院 | A kind of biped robot's walking mechanism |
| CN209972623U (en) * | 2019-05-31 | 2020-01-21 | 张子向 | Walking mechanism of humanoid robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN212473715U (en) * | 2020-08-14 | 2021-02-05 | 河南锐之信电子技术有限公司 | Multi-leg walking load type robot |
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