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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- 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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Abstract
本发明涉及机器人技术领域，具体为多腿行走的负载型机器人，包括用于负载的支架，支架上安装固定板，支架通过各固定板安装第一行走机构，各第一行走机构包括与固定板固定连接的第一电机，第一电机输出轴上安装第一转杆，第一转杆远离第一电机的一端与第一连接架转动连接，第一连接架远离第一转杆的一端与第一行走腿转动连接，固定板与第一连接杆转动连接，第一连接杆远离固定板的一端与第一行走腿的端部转动连接，第一行走腿靠近地面的一端安装可转动、制动的驱动轮，本多腿行走的负载型机器人便于负载机器人可在多种路面上使用。
The present invention relates to the field of robot technology, specifically to a multi-legged load-bearing robot, comprising a bracket for loading, a fixing plate installed on the bracket, a first walking mechanism installed on the bracket through each fixing plate, each first walking mechanism comprising a first motor fixedly connected to the fixing plate, a first rotating rod installed on the output shaft of the first motor, an end of the first rotating rod away from the first motor is rotatably connected to a first connecting frame, an end of the first connecting frame away from the first rotating rod is rotatably connected to a first walking leg, the fixing plate is rotatably connected to the first connecting rod, an end of the first connecting rod away from the fixing plate is rotatably connected to an end of the first walking leg, a rotatable and braked driving wheel is installed on the end of the first walking leg close to the ground, and the multi-legged load-bearing robot is convenient for the load-bearing robot to be used on a variety of road surfaces.
Description
技术领域Technical Field
本发明涉及机器人技术领域，具体为多腿行走的负载型机器人。The invention relates to the technical field of robots, in particular to a load-bearing robot capable of walking on multiple legs.
背景技术Background technique
随着机器人的发展，常用机器人运送物品或方便人们的移动，现有负载机器人有的能高速移动，但难于跨越较大的障碍物，比如门槛、楼梯等，也不适合在复杂的路面上行驶，如泥泞、碎石地等，有的能跨越较大的障碍物，但不能快速移动，使得负载机器人不便于在多种路面上使用。With the development of robots, robots are often used to transport objects or facilitate people's movement. Some existing load-bearing robots can move at high speeds, but have difficulty crossing larger obstacles, such as thresholds, stairs, etc., and are not suitable for driving on complex roads, such as muddy and gravel roads. Some can cross larger obstacles, but cannot move quickly, making load-bearing robots inconvenient to use on a variety of road surfaces.
发明内容Summary of the invention
针对现有技术的不足，为克服现有技术之缺陷，本发明目的在于提供多腿行走的负载型机器人，解决负载机器人不便于在多种路面上使用的问题。In view of the shortcomings of the prior art and to overcome the defects of the prior art, the present invention aims to provide a multi-legged walking load-bearing robot to solve the problem that the load-bearing robot is not convenient to use on a variety of road surfaces.
其技术方案是，多腿行走的负载型机器人，包括用于负载的支架，所述支架上安装固定板，所述支架通过各所述固定板安装第一行走机构，各所述第一行走机构包括与所述固定板固定连接的第一电机，所述第一电机输出轴上安装第一转杆，所述第一转杆远离所述第一电机的一端与第一连接架转动连接，所述第一连接架远离所述第一转杆的一端与第一行走腿转动连接，所述固定板与第一连接杆转动连接，所述第一连接杆远离所述固定板的一端与所述第一行走腿的端部转动连接，形成第一电机带动第一转杆转动，第一行走腿在第一连接架和第一连接杆的作用下，各所述第一行走机构带动支架移动的结构，所述第一行走腿靠近地面的一端安装可转动、制动的驱动轮。The technical solution is that a multi-legged load-bearing robot comprises a bracket for loading, a fixing plate is installed on the bracket, a first walking mechanism is installed on the bracket through each of the fixing plates, each of the first walking mechanisms comprises a first motor fixedly connected to the fixing plate, a first rotating rod is installed on the output shaft of the first motor, an end of the first rotating rod away from the first motor is rotatably connected to a first connecting frame, an end of the first connecting frame away from the first rotating rod is rotatably connected to a first walking leg, the fixing plate is rotatably connected to a first connecting rod, an end of the first connecting rod away from the fixing plate is rotatably connected to an end of the first walking leg, forming a structure in which the first motor drives the first rotating rod to rotate, and the first walking leg drives the bracket to move under the action of the first connecting frame and the first connecting rod, and a rotatable and braked driving wheel is installed at an end of the first walking leg close to the ground.
优选地，所述支架还通过各所述固定板安装第二行走机构，各所述第二行走机构包括与所述固定板固定连接的第二电机，所述第二电机输出轴上安装第二转杆，所述第二转杆远离所述第二电机的一端与第二连接架转动连接，所述第二连接架远离所述第二转杆的一端与第二行走腿转动连接，所述固定板与第二连接杆转动连接，所述第二连接杆远离所述固定板的一端与所述第二行走腿的端部转动连接，形成第二电机带动第二转杆转动，第二行走腿在第二连接架和第二连接杆的作用下，各所述第二行走机构带动支架移动的结构。Preferably, the bracket is also equipped with a second walking mechanism through each of the fixed plates, and each of the second walking mechanisms includes a second motor fixedly connected to the fixed plate, a second rotating rod is installed on the output shaft of the second motor, an end of the second rotating rod away from the second motor is rotatably connected to the second connecting frame, an end of the second connecting frame away from the second rotating rod is rotatably connected to the second walking leg, the fixed plate is rotatably connected to the second connecting rod, and an end of the second connecting rod away from the fixed plate is rotatably connected to the end of the second walking leg, forming a structure in which the second motor drives the second rotating rod to rotate, and the second walking leg drives the bracket to move under the action of the second connecting frame and the second connecting rod.
优选地，各所述第一行走机构、各所述第二行走机构分布在所述支架的长度方向上，且各所述第一行走机构相对所述支架的长度方向对称分布，各所述第二行走机构相对所述支架的长度方向对称分布。Preferably, each of the first walking mechanisms and each of the second walking mechanisms are distributed in the length direction of the bracket, and each of the first walking mechanisms is symmetrically distributed with respect to the length direction of the bracket, and each of the second walking mechanisms is symmetrically distributed with respect to the length direction of the bracket.
优选地，所述第一连接架呈三角形结构，所述第一连接架一边角与第一加固杆转动连接，所述第一加固杆远离连接架的一端与所述固定板转动连接，所述第二连接架呈三角形结构，所述第二连接架一边角与第二加固杆转动连接，所述第二加固杆远离连接架的一端与所述固定板转动连接。Preferably, the first connecting frame is a triangular structure, one corner of the first connecting frame is rotatably connected to the first reinforcement rod, and one end of the first reinforcement rod away from the connecting frame is rotatably connected to the fixed plate; the second connecting frame is a triangular structure, one corner of the second connecting frame is rotatably connected to the second reinforcement rod, and one end of the second reinforcement rod away from the connecting frame is rotatably connected to the fixed plate.
优选地，所述第一连接杆、第一加固杆、第二连接杆、第二加固杆的长度可调节。Preferably, the lengths of the first connecting rod, the first reinforcement rod, the second connecting rod and the second reinforcement rod are adjustable.
本发明提供了多腿行走的负载型机器人，与现有技术相比有益效果为：The present invention provides a multi-legged walking load-bearing robot, which has the following beneficial effects compared with the prior art:
1、通过第一行走机构的驱动轮，便于负载机器人在平地上快速移动，也便于负载机器人转向，通过第二行走机构，便于负载机器人在如楼梯、泥泞等复杂路面上行走，从而使得负载机器人可在多种路面上使用。1. The driving wheel of the first walking mechanism facilitates the rapid movement of the load robot on flat ground and the steering of the load robot. The second walking mechanism facilitates the load robot to walk on complex roads such as stairs and mud, so that the load robot can be used on a variety of roads.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1为本发明的示意图。FIG. 1 is a schematic diagram of the present invention.
图2为本发明的第一行走机构、第二行走机构的结构示意图。FIG. 2 is a schematic structural diagram of the first walking mechanism and the second walking mechanism of the present invention.
图3为本发明的俯视图。FIG. 3 is a top view of the present invention.
图中：1支架、2固定板、3第一长孔、4第二长孔、5第一行走机构、6第二行走机构、10第一电机、11第一转杆、12第一连接架、13第一行走腿、14第一连接杆、15第一加固杆、16驱动轮、20第二电机、21第二转杆、22第二连接架、23第二行走腿、24第二连接杆、25第二加固杆。In the figure: 1 bracket, 2 fixing plate, 3 first long hole, 4 second long hole, 5 first walking mechanism, 6 second walking mechanism, 10 first motor, 11 first rotating rod, 12 first connecting frame, 13 first walking leg, 14 first connecting rod, 15 first reinforcement rod, 16 driving wheel, 20 second motor, 21 second rotating rod, 22 second connecting frame, 23 second walking leg, 24 second connecting rod, 25 second reinforcement rod.
具体实施方式Detailed ways
以下将结合附图对本发明各实施例的技术方案进行清楚、完整的描述，显然，所描述的实施例仅仅是本发明的一部分实施例，而不是全部的实施例。基于本发明的实施例，本领域普通技术人员在没有做出创造性劳动的前提下所得到的所有其它实施例，都属于本发明所保护的范围，在本发明的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。The technical solutions of various embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention. In the description of the present invention, it should be noted that the orientation or position relationship indicated by the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.
此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, and it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
下面通过具体的实施例子并结合附图对本发明做进一步的详细描述。The present invention is further described in detail below through specific implementation examples in conjunction with the accompanying drawings.
实施例一：Embodiment 1:
请参阅图1-3，本发明提供一种技术方案：多腿行走的负载型机器人，包括用于负载的支架1，通过支架1可承载物品或者人员，支架1上安装固定板2，固定板2与支架1固定连接，固定板2的数量为四个，支架1通过各固定板2安装第一行走机构5，各第一行走机构5分布在支架1的长度方向上，且各第一行走机构5相对支架1的长度方向对称分布，第一行走机构5的数量为四个，在支架1的前端、后端各有两个，每个第一行走机构5均包括与固定板2固定连接的第一电机10，以及第一转杆11、第一连接架12、第一行走腿13、第一连接杆14、第一加固杆15、驱动轮16，第一电机10输出轴上安装第一转杆11，第一转杆11与第一电机10输出轴固定连接，固定板2上开设用于第一转杆11转动时通过的第一长孔3，第一转杆11远离第一电机10的一端与第一连接架12转动连接，第一连接架12远离第一转杆11的一端与第一行走腿13转动连接，固定板2与第一连接杆14转动连接，第一连接杆14远离固定板2的一端与第一行走腿13的端部转动连接，形成第一电机10带动第一转杆11转动，第一行走腿13在第一连接架12和第一连接杆14的作用下，各第一行走机构5带动支架1移动的结构，第一行走腿13靠近地面的一端安装可转动、制动的驱动轮16，驱动轮16与第一行走腿13转动连接，驱动轮16为安装轮毂电机的轮子，平地上移动时，便于通过驱动轮16的转动快速移动，在如楼梯、泥泞等复杂路面上行走时，可先将驱动轮16制动，在各第一行走机构5的配合下，各第一行走机构5中的第一电机10转动，使得负载机器人移动，同时可通过控制各驱动轮16的转速不同，使得负载机器人进行转向。Please refer to Figures 1-3. The present invention provides a technical solution: a multi-legged load-bearing robot, comprising a bracket 1 for loading, through which objects or people can be carried, a fixing plate 2 is installed on the bracket 1, and the fixing plate 2 is fixedly connected to the bracket 1. The number of the fixing plates 2 is four, and the bracket 1 is installed with first walking mechanisms 5 through each fixing plate 2. Each first walking mechanism 5 is distributed in the length direction of the bracket 1, and each first walking mechanism 5 is symmetrically distributed relative to the length direction of the bracket 1. The number of the first walking mechanisms 5 is four, and there are two at the front end and the rear end of the bracket 1, each first walking mechanism 5 includes a first motor 10 fixedly connected to the fixing plate 2, as well as a first rotating rod 11, a first connecting frame 12, a first walking leg 13, a first connecting rod 14, a first reinforcement rod 15, and a driving wheel 16. The first rotating rod 11 is installed on the output shaft of the first motor 10, and the first rotating rod 11 is fixedly connected to the output shaft of the first motor 10. A first long hole 3 for the first rotating rod 11 to pass through when rotating is provided on the fixing plate 2, and one end of the first rotating rod 11 is away from the first motor 10 The first connecting frame 12 is rotatably connected to the first connecting frame 12, and one end of the first connecting frame 12 away from the first rotating rod 11 is rotatably connected to the first walking leg 13. The fixed plate 2 is rotatably connected to the first connecting rod 14, and one end of the first connecting rod 14 away from the fixed plate 2 is rotatably connected to the end of the first walking leg 13, so that the first motor 10 drives the first rotating rod 11 to rotate. 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. A rotatable and braked driving wheel 16 is installed at one end of the first walking leg 13 close to the ground. The driving wheel 16 is rotatably connected to the first walking leg 13. The driving wheel 16 is a wheel on which a hub motor is installed. When moving on flat ground, it is convenient to move quickly through the rotation of the driving wheel 16. When walking on complex roads such as stairs and muddy roads, the driving wheel 16 can be braked first. With the cooperation of each first walking mechanism 5, the first motor 10 in each first walking mechanism 5 rotates to move the load robot. At the same time, the load robot can be turned by controlling the different rotation speeds of each driving wheel 16.
在一实施例中，根据附图所示，支架1还通过各固定板2安装第二行走机构6，各第二行走机构6分布在支架1的长度方向上，且各第二行走机构6相对支架1的长度方向对称分布，第二行走机构6的数量为四个，在支架1的前端、后端各有两个，每个第二行走机构6均包括与固定板2固定连接的第二电机20，以及第二转杆21、第二连接架22、第二行走腿23、第二连接杆24、第二加固杆25，第二电机20输出轴上安装第二转杆21，第二转杆21与第二电机20输出轴固定连接，固定板2上开设用于第二转杆21转动时通过的第二长孔4，第二转杆21远离第二电机20的一端与第二连接架22转动连接，第二连接架22远离第二转杆21的一端与第二行走腿23转动连接，固定板2与第二连接杆24转动连接，第二连接杆24远离固定板2的一端与第二行走腿23的端部转动连接，形成第二电机20带动第二转杆21转动，第二行走腿23在第二连接架22和第二连接杆24的作用下，各第二行走机构6带动支架1移动的结构，通过各第二行走机构6的配合，使得负载机器人可在平地上或者如楼梯、泥泞等复杂路面上行走，其中在平地上行走时，可通过各第一行走机构5的驱动轮16进行快速移动，在如楼梯、泥泞等复杂路面上行走时，也可切换行走方式，通过各第二行走机构6的配合进行移动。In one embodiment, as shown in the accompanying drawings, the bracket 1 is further equipped with a second walking mechanism 6 through each fixed plate 2, and each second walking mechanism 6 is distributed in the length direction of the bracket 1, and each second walking mechanism 6 is symmetrically distributed relative to the length direction of the bracket 1. The number of second walking mechanisms 6 is four, and there are two at the front end and the rear end of the bracket 1, and each second walking mechanism 6 includes a second motor 20 fixedly connected to the fixed plate 2, as well as a second rotating rod 21, a second connecting frame 22, a second walking leg 23, a second connecting rod 24, and a second reinforcement rod 25. The second rotating rod 21 is installed on the output shaft of the second motor 20, and the second rotating rod 21 is fixedly connected to the output shaft of the second motor 20. A second long hole 4 for the second rotating rod 21 to pass through when rotating is provided on the fixed plate 2, and the end of the second rotating rod 21 away from the second motor 20 is connected to the second connecting frame 22 Rotationally connected, one end of the second connecting frame 22 away from the second rotating rod 21 is rotationally connected to the second walking leg 23, the fixed plate 2 is rotationally connected to the second connecting rod 24, and one end of the second connecting rod 24 away from the fixed plate 2 is rotationally connected to the end of the second walking leg 23, forming a structure in which the second motor 20 drives the second rotating rod 21 to rotate, and the second walking leg 23 drives the bracket 1 to move under the action of the second connecting frame 22 and the second connecting rod 24. Through the cooperation of each second walking mechanism 6, the load robot can walk on flat ground or on complex roads such as stairs and mud. When walking on flat ground, it can be quickly moved by the driving wheels 16 of each first walking mechanism 5. When walking on complex roads such as stairs and mud, the walking mode can also be switched and moved by the cooperation of each second walking mechanism 6.
在一实施例中，根据附图所示，第一连接架12呈三角形结构，第一连接架12一边角与第一加固杆15转动连接，第一加固杆15远离连接架的一端与固定板2转动连接，第二连接架22呈三角形结构，第二连接架22一边角与第二加固杆25转动连接，第二加固杆25远离连接架的一端与固定板2转动连接。In one embodiment, as shown in the accompanying drawings, the first connecting frame 12 is a triangular structure, one corner of the first connecting frame 12 is rotatably connected to the first reinforcement rod 15, and the end of the first reinforcement rod 15 away from the connecting frame is rotatably connected to the fixed plate 2, and the second connecting frame 22 is a triangular structure, one corner of the second connecting frame 22 is rotatably connected to the second reinforcement rod 25, and the end of the second reinforcement rod 25 away from the connecting frame is rotatably connected to the fixed plate 2.
在一实施例中，根据附图所示，第二行走腿23靠近地面的一端固定连接用于缓冲的缓冲柱，缓冲柱为橡胶材料制成。In one embodiment, as shown in the drawings, one end of the second walking leg 23 close to the ground is fixedly connected to a buffer column for buffering, and the buffer column is made of rubber material.
在一实施例中，根据附图所示，第一连接杆14、第一加固杆15、第二连接杆24、第二加固杆25的长度可调节，第一连接杆14包括横杆，横杆一端开设轴向的第一螺纹孔，横杆另一端开设轴向的第二螺纹孔，第一螺纹孔与第二螺纹孔的旋转方向相反，横杆通过第一螺纹孔与左端杆螺纹连接，横杆通过第二螺纹杆与右端杆螺纹连接，通过横杆的转动，使得第一连接杆14的长度可调节，其中第一加固杆15、第二连接杆24、第二加固杆25的结构原理与第一连接杆14相同。In one embodiment, as shown in the accompanying drawings, the lengths of the first connecting rod 14, the first reinforcement rod 15, the second connecting rod 24, and the second reinforcement rod 25 are adjustable. The first connecting rod 14 includes a cross rod, and an axial first threaded hole is opened at one end of the cross rod, and an axial second threaded hole is opened at the other end of the cross rod. The rotation directions of the first threaded hole and the second threaded hole are opposite. The cross rod is threadedly connected to the left end rod through the first threaded hole, and the cross rod is threadedly connected to the right end rod through the second threaded rod. The length of the first connecting rod 14 can be adjusted by rotating the cross rod, wherein the structural principles of the first reinforcement rod 15, the second connecting rod 24, and the second reinforcement rod 25 are the same as those of the first connecting rod 14.
以上通过具体实施方式和实施例对本发明进行了详细的说明，但这些并非构成对本发明的限制。在不脱离本发明原理的情况下，本领域的技术人员还可做出许多变形和改进，这些也应视为本发明的保护范围。The present invention has been described in detail above through specific implementation modes and embodiments, but these do not constitute limitations of the present invention. Without departing from the principles of the present invention, those skilled in the art may also make many variations and improvements, which should also be regarded as the protection scope of the present invention.
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