CN112936218A - Multi-legged robot with rolling type working mode - Google Patents
Multi-legged robot with rolling type working mode Download PDFInfo
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- CN112936218A CN112936218A CN202110316354.7A CN202110316354A CN112936218A CN 112936218 A CN112936218 A CN 112936218A CN 202110316354 A CN202110316354 A CN 202110316354A CN 112936218 A CN112936218 A CN 112936218A
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- organ
- lower limb
- foot
- robot
- legged robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Abstract
The application discloses a multi-legged robot with a rolling type working mode, which comprises a robot body, a robot handle and a control device, wherein the robot body is provided with a rolling type working mode; a body organ; the lower limb organs are surrounded around the main body organ, each lower limb organ comprises a thigh structure, a shank structure and a foot structure which are sequentially connected in a rotating mode, the thigh structure is connected with the main body organ, the foot structure is arc-shaped, the bending direction of the foot structure faces the main body organ, and the rotating direction of the foot structure around the shank structure is parallel to the rotating direction of the shank structure around the thigh structure; when the thigh structure, the shank structure and the foot structure move relatively, the lower limb organ generates stretching or contracting movement; when the multi-legged robot is switched to a rolling type working mode, the plurality of lower limb organs sequentially generate stretching or contracting movement by taking the main body organ as a center, so that rolling work is realized. The invention can at least solve the problem of how to provide a robot which has a rolling type working mode and a foot type working mode and can be switched between the two working modes.
Description
Technical Field
The present invention relates to the field of robots. More particularly, the present invention relates to a multi-legged robot having a roll mode of operation.
Background
With the development of the robot application, the requirement on the working performance of the robot is higher and higher. For example, in the fields of rescue, exploration and even outer space exploration, more severe requirements are provided for the adaptability of the working environment of robots. In these environments, robots need superior terrain adaptability and obstacle-passing capability than ever before to accomplish the indicated tasks.
Conventional robots generally include both roll robots and multi-legged robots. At present, the multi-legged robot has good terrain passing force, but is slow in speed and low in efficiency. The rolling robot has the advantages of high moving speed, high efficiency and power saving, but the passing force is not good when the rolling robot meets complex terrains.
In addition, the conventional robot has a complicated structure, which is not favorable for production.
It can be said that the above two existing robots have their advantages and disadvantages, and still need to be improved to solve the work requirement caused by the increasingly complex work environment and to reduce the structural complexity.
Disclosure of Invention
An object of the present invention is to solve at least the above problems and to provide at least the advantages described later.
Another object of the present invention is to provide a multi-legged robot having a roll type working mode, which can combine the working performance of both the roll type robot and the legged robot, and switch between the roll type working mode and the legged working mode as required, so as to not only meet the requirements of complex working environment, but also achieve the effect of energy saving, and at the same time, the multi-legged robot of the present invention has a simple structure. Therefore, the present invention provides a robot that can solve at least the problem of how to provide a robot that has both a roll operation mode and a foot operation mode and can switch between the two operation modes, and the problem of how to reduce the complexity of the structure.
The invention is realized by the following technical scheme:
the invention provides a multi-legged robot with a rolling type working mode, which comprises a robot body, a robot handle and a control device, wherein the robot body comprises a roller type working mode;
a body organ; and
the lower limb organ comprises a plurality of lower limb organs surrounding a main organ, wherein each lower limb organ comprises a thigh structure, a shank structure and a foot structure which are sequentially connected in a rotating manner, the thigh structure is connected with the main organ, the foot structure is arc-shaped, the bending direction of the foot structure faces the main organ, and the rotating direction of the foot structure around the shank structure is parallel to the rotating direction of the shank structure around the thigh structure; wherein the lower limb organ produces an extension or contraction motion when relative motion occurs between the thigh structure, the calf structure and the foot structure;
when the multi-legged robot is switched to a rolling type working mode, the lower limb organs sequentially generate stretching or contracting movement by taking the main body organ as a center, so that rolling work is realized.
The multi-legged robot having a rolling operation mode according to the present invention can be switched to the rolling operation mode as needed, and in the rolling operation mode, the multi-legged robot corresponds to a rolling robot and can travel in a rolling manner. When the robot does not need to walk in a rolling mode, the multi-legged robot can be switched from a rolling type working mode to a foot type working mode, and the robot walks by using a plurality of lower limb organs like a common multi-legged robot. From this, the polypod robot that has roll formula mode of operation that the first aspect provided has solved the technical problem that exists among the prior art, can compromise the working property of roll formula robot and polypod robot, switches in roll formula mode of operation and roll formula mode of operation as required, not only can satisfy complicated operational environment's demand, can also realize energy-conserving effect. In addition, each lower limb organ can realize extension or contraction movement only through a thigh structure, a shank structure and a foot structure, so that switching between a rolling type working mode and a foot type working mode is realized, and the structural complexity and the production cost of the robot are reduced.
In some embodiments, the foot structure is provided with a groove on a side facing the main body organ, the groove is used for accommodating the corresponding lower leg mechanism when the multi-legged robot is switched to the rolling type working mode.
In some technical solutions, when the multi-legged robot is switched to the rolling type working mode, the lower leg mechanism is abutted against and connected with the inner wall of the corresponding groove.
In some embodiments, the lower leg structure is arcuate in shape and curves away from the foot mechanism.
In some technical schemes, a first steering engine is arranged at the joint of the foot structure and the shank structure, and a second steering engine is arranged at the joint of the shank structure and the thigh structure. In some embodiments, the ball structure is a seal structure.
In some embodiments, the number of the lower limb organs is an even number, and the lower limb organs are symmetrically arranged around the main body organ.
In some embodiments, the number of the plurality of lower limb organs is 4.
In some embodiments, the foot mechanism is provided with a sensor at a location for contact with the ground in the non-rolling mode of operation.
The technical effects of the embodiment of the invention at least comprise:
in some embodiments of the invention, the thigh structure, the calf structure and the foot structure fold together when the foot structure in each of the lower limb organs is rotated to a first predetermined position towards the main organ and the calf structure is rotated to a second predetermined position towards the main organ. Compared with the prior art, the multi-legged robot with the rolling type working mode provided by the first aspect can be switched to the rolling type working mode as required, and in the rolling type working mode, the multi-legged robot is equivalent to a rolling type robot and can walk in a rolling manner. When the robot does not need to walk in a rolling mode, the multi-legged robot can be switched from a rolling working mode to a rolling working mode, and the robot walks by using a plurality of lower limb organs like a common multi-legged robot. From this, the polypod robot that has roll formula mode of operation that the first aspect provided has solved the technical problem that exists among the prior art, can compromise the working property of roll formula robot and polypod robot, switches in roll formula mode of operation and roll formula mode of operation as required, not only can satisfy complicated operational environment's demand, can also realize energy-conserving effect.
In addition, in some embodiments of the present invention, each lower limb organ includes only one thigh structure, one shank structure and one foot structure, so that switching between the rolling type working mode and the foot type working mode can be achieved, and the structural complexity and the production cost of the robot are reduced.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
FIG. 1 is a schematic view of a multi-legged robot having a roll mode of operation according to some embodiments of the present invention;
FIG. 2 is a schematic view of the lower limb organ in some embodiments;
FIG. 3 is a schematic view of the lower limb organ in further embodiments;
FIG. 4 is a schematic view of the multi-legged robot with a rolling mode of operation according to the present invention;
FIG. 5 is a cutaway schematic view of FIG. 4;
FIG. 6 is a schematic representation of the operation of the lower limb organ in some embodiments;
FIG. 7 is a schematic view of an illustrative foot structure 230 in some embodiments;
reference numerals: 1. a multi-legged robot having a roll mode of operation; 10. a body organ; 20. lower limb organs; 210. a thigh structure; 220. a shank structure; 230. a foot structure; 231. and (4) a groove.
Detailed Description
The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.
It should be noted that in the description of the present invention, the terms "lateral", "longitudinal", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply 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.
It should be noted that the term "organ" in the terms "main body organ", "lower limb organ" and the like in the present invention is an image expression made for a robot so as to be easily understood by those skilled in the art; the organ is not a real human organ but a mechanical structure similar to a human organ, and therefore such expression is not to be construed as a limitation of the present invention.
As shown in fig. 1, the present invention provides a multi-legged robot 1 having a roll type operation mode. The multi-legged robot includes a main body organ 10 and a plurality of lower limb organs 20 surrounding the main body organ 10.
Further, as shown in fig. 2-3, each of the lower limb organs 20 comprises a thigh structure 210, a shank structure 220 and a foot structure 230, which are rotatably connected in sequence, wherein the thigh structure 210 is connected with the main organ 10, the foot structure 230 is arc-shaped and bends towards the main organ 10, and the rotation direction of the foot structure 230 around the shank structure 220 is parallel to the rotation direction of the shank structure 220 around the thigh structure 210; wherein when relative motion occurs between the thigh structure 210, the calf structure 220 and the foot structure 230, the lower limb organ 20 generates extension or contraction motion;
when the multi-legged robot 1 is switched to the rolling mode, the lower limb organs 20 sequentially perform stretching or contracting motions around the main body organ 10, thereby performing the rolling operation.
It is easily understood that when the thigh structure 210, the shank structure 220 and the foot structure 230 are in relative motion, if the thigh structure 210, the shank structure 220 and the foot structure 230 are close to each other, the lower limb organ 20 performs an extension motion, and if the thigh structure 210, the shank structure 220 and the foot structure 230 are far from each other, the lower limb organ 20 performs a contraction motion.
It should be noted that various schematic diagrams of the extension or contraction movement of the lower limb organ 20 can be seen in fig. 2-3, wherein fig. 2 is a schematic diagram of the lower limb organ 20 when extended to the maximum extent, and fig. 3 is a schematic diagram of the lower limb organ 20 when contracted to the maximum extent; correspondingly, after the extension or contraction movement is generated, the state of the multi-legged robot can be schematically shown in fig. 1 and fig. 4-5, wherein when each of the lower limb organs 20 is extended to the maximum extent, the state of the multi-legged robot can be schematically shown in fig. 1; when each of the lower limb organs 20 is contracted to the maximum extent, the multi-legged robot can be seen in fig. 4 to 5, and fig. 5 is a cut-away view of fig. 4.
As shown in fig. 6, in the rolling mode, when the lower limb organ 20 performs an extension exercise, the foot structure 230 applies a force F to the ground from top to bottom, and the foot structure 230 is arc-shaped and forms an angle with the ground, so that the lower limb organ 20 can move along the direction of the angle parallel to the ground (i.e. the S direction from left to right in the figure) under the action of the force F and gravity.
Therefore, it can be understood that when any one of the lower limb organs 20 of the plurality of lower limb organs 20 moves along the direction of the included angle parallel to the ground, the multi-legged robot can be driven to roll. On the basis, it is easy to understand that after the former lower limb organ 20 of the plurality of lower limb organs 20 moves along the direction of the included angle parallel to the ground, the former lower limb organ 20 gradually gets out of contact with the ground until the latter lower limb organ 20 contacts with the ground, and then the same movement of the former lower limb organ 20 can be repeated, and it should be emphasized that in the process, after the latter lower limb organ 20 contacts with the ground, the former lower limb organ 20 can perform contraction movement, thereby facilitating the subsequent rolling work.
The multi-legged robot also comprises a legged working mode besides the rolling working mode. In the foot mode, the whole multi-legged robot is substantially parallel to the ground, and the robot can normally walk through the plurality of lower limb organs 20, as will be understood in the art. Of course, see the following: the foot structure 230 of one lower limb organ 20 of the plurality of lower limb organs 20 is in contact with the ground, the other part of lower limb organ 20 is out of contact with the ground, and the foot structure 230 is moved towards the target direction and gradually falls to the ground through the relative movement among the thigh structure 210, the shank structure 220 and the foot structure 230, and then the walking operation in the foot type operation mode can be realized by repeating the above processes.
Compared with the prior art, the multi-legged robot with the rolling type working mode provided by the first aspect can be switched to the rolling type working mode as required, and in the rolling type working mode, the multi-legged robot is equivalent to a rolling type robot and can walk in a rolling manner.
When walking in a rolling manner is not needed, the multi-legged robot can be switched from a rolling type working mode to a foot type working mode, and the multi-legged robot walks by using a plurality of lower limb organs 20 like a traditional multi-legged robot.
Therefore, the multi-legged robot with the rolling type working mode solves the technical problems in the prior art, can give consideration to the working performance of the rolling type robot and the multi-legged robot, can be switched between the rolling type working mode and the legged working mode according to needs, can meet the requirements of complex working environments, and can realize the energy-saving effect; meanwhile, the structure is simple.
In some embodiments, the main body organ 10 at least includes a control module for controlling the movement of the plurality of lower limb organs 20, which may be implemented by the prior art, and for example, the control module may be implemented by a control circuit, a CPU, an MCU, or the like.
In some embodiments, as shown in fig. 7, the foot structure 230 is provided with a groove 231 at the side facing the main body organ 10, and the groove 231 is used for accommodating the corresponding lower leg mechanism when the multi-legged robot is switched to the rolling operation mode. The scheme is convenient for folding the lower leg structure 220 and the foot structure 230 together, thereby saving space.
In some embodiments, when the multi-legged robot is switched to the rolling mode of operation, the lower leg mechanism is in abutting contact with the inner wall of the corresponding groove 231. Further space savings result after the lower leg structure 220 is folded together with the foot structure 230.
In some embodiments, the lower leg structure 220 is arcuate in shape and curves away from the foot mechanism.
In some embodiments, a first steering engine is provided at the junction of the foot structure 230 and the lower leg structure 220, and a second steering engine is provided at the junction of the lower leg structure 220 and the thigh structure 210.
The mounting mode of first steering wheel and second steering wheel can be realized through prior art.
In some embodiments, the plurality of lower limb organs 20 is an even number and is symmetrically disposed around the main body organ 10.
In some embodiments, the number of the plurality of lower limb organs 20 is 4.
In some embodiments, the foot mechanism 230 is provided with a sensor at a location for contact with the ground in the non-rolling mode of operation.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.
Claims (8)
1. A multi-legged robot having a roll mode of operation, characterized in that the robot comprises;
a body organ; and
the lower limb organ comprises a plurality of lower limb organs surrounding a main organ, wherein each lower limb organ comprises a thigh structure, a shank structure and a foot structure which are sequentially connected in a rotating manner, the thigh structure is connected with the main organ, the foot structure is arc-shaped, the bending direction of the foot structure faces the main organ, and the rotating direction of the foot structure around the shank structure is parallel to the rotating direction of the shank structure around the thigh structure; wherein the lower limb organ produces an extension or contraction motion when relative motion occurs between the thigh structure, the calf structure and the foot structure;
when the multi-legged robot is switched to a rolling type working mode, the lower limb organs sequentially generate stretching or contracting movement by taking the main body organ as a center, so that rolling work is realized.
2. The multi-legged robot according to claim 1, wherein the foot structure is provided with a groove at a side facing the main body organ for receiving the corresponding lower leg mechanism when the multi-legged robot is switched to the roll mode of operation.
3. The multi-legged robot according to claim 1, wherein the lower leg mechanism is in abutting contact with the inner wall of the corresponding groove when the multi-legged robot is switched to the rolling mode.
4. The multi-legged robot of claim 1, wherein the lower leg structure is arcuate in shape and curves away from the foot mechanism.
5. The multi-legged robot according to claim 1, wherein a first steering engine is provided at the joint of the foot structure and the shank structure, and a second steering engine is provided at the joint of the shank structure and the thigh structure.
6. The polypod robot according to claim 1, wherein the number of the plurality of lower limb organs is an even number, and is symmetrically arranged around the main body organ.
7. The polypod robot of claim 6 wherein the number of said lower limb organs is 4.
8. The multi-legged robot according to claim 1, wherein the foot mechanism is provided with a sensor at a portion for contacting with the ground in the non-rolling operation mode.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110316354.7A CN112936218A (en) | 2021-03-24 | 2021-03-24 | Multi-legged robot with rolling type working mode |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110316354.7A CN112936218A (en) | 2021-03-24 | 2021-03-24 | Multi-legged robot with rolling type working mode |
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| CN112936218A true CN112936218A (en) | 2021-06-11 |
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| CN207045490U (en) * | 2017-07-07 | 2018-02-27 | 华中科技大学 | A kind of spherical Bian Bao robots |
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2021
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Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060090938A1 (en) * | 2004-11-04 | 2006-05-04 | Minas Tanielian | Robotic all terrain surveyor |
| CN103538644A (en) * | 2013-10-14 | 2014-01-29 | 上海大学 | Robot with functions of rolling motion and foot walking |
| KR101490822B1 (en) * | 2014-01-07 | 2015-02-09 | 한국기술교육대학교 산학협력단 | Transformable ball-like robot for rough terrain |
| CN105035199A (en) * | 2015-08-28 | 2015-11-11 | 榆林学院 | Spherical robot capable of conducting foot type movement and working method of robot |
| CN106864616A (en) * | 2017-02-27 | 2017-06-20 | 深圳源创智能机器人有限公司 | A kind of spherical six sufficient fighter toy |
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