CN114132407A - High-speed motion mode of hexapod robot - Google Patents
High-speed motion mode of hexapod robot Download PDFInfo
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- CN114132407A CN114132407A CN202111296553.2A CN202111296553A CN114132407A CN 114132407 A CN114132407 A CN 114132407A CN 202111296553 A CN202111296553 A CN 202111296553A CN 114132407 A CN114132407 A CN 114132407A
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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
The invention discloses a hexapod robot, which comprises a robot base, six metal walking legs symmetrically arranged on the outer side of the robot base and support legs positioned at the bottom ends of the metal walking legs, wherein fixed columns are fixedly connected to the top end inside the robot base and positioned in the middle of the robot base, steering engines are uniformly arranged on the outer sides of the fixed columns, and connecting plates are fixedly connected to the shaft ends of the steering engines; through setting up six metal walking legs and metal reducing gear box, carrying out the high-speed motion in-process, six metal walking legs do work in turn to compare with traditional plastics material robot, adopt metal material, plastics greatly increased is compared in the bearing, directly with ripe reducing gear box on the market, can select suitable reduction ratio, reasonable adjustment load capacity and speed according to the demand.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a high-speed motion mode of a hexapod robot.
Background
The robot is an intelligent machine capable of semi-autonomous or fully-autonomous working; the robot has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the work efficiency and quality, serves human life, and expands or extends the activity and capability range of the human beings.
The hexapod robot is also called a spider robot and is one of multi-pod robots; when the motion trail of the multi-legged walking robot is a series of discrete footprint motions, the degree of damage to the environment is small only by discrete point contact, and the adaptability of the optimal support point to rugged terrain can be selected on the ground which can be reached; just because so many legged walking robots are also less damaging to the environment; the wheel type and crawler type robots are provided with a continuous track; the continuous path for stably supporting the robot, which is often provided with rocks, soil, sand and even barriers such as cliff and steep slope in rough terrain, is very limited, which means that wheeled and tracked robots are not suitable for the terrain; the legs of the multi-legged walking robot have multiple degrees of freedom, so that the flexibility of movement is greatly enhanced; the body can be kept horizontal by adjusting the length of the legs, and the position of the center of gravity can be adjusted by adjusting the extension degree of the legs, so that the body is not easy to tip over and has higher stability; certainly, the multi-foot walking robot has some defects; for example, in order to make the leg coordinate and stably move, the mechanical structure design and the control system algorithm are more complex, and the maneuverability of the arthropod bionic multi-legged walking robot in nature is different.
The existing hexapod robot can move at high speed under the control of a control system, but the hexapod robot is not enough in bearing due to material limitation and can only be used on small toys; the speed reducing mechanism uses scattered plastic gears, is not beneficial to equal-scale amplification and load and speed ratio adjustment, so a high-speed motion mode of the hexapod robot is needed.
Disclosure of Invention
The technical problem to be solved by the invention is to overcome the existing defects, and provide a high-speed motion mode of a hexapod robot, so as to solve the problems that the bearing is not enough due to the limitation of materials, the hexapod robot can only be used on small toys, a speed reducing mechanism uses scattered plastic gears, the scaling up is not facilitated, and the load and speed ratio is not easily adjusted.
In order to achieve the purpose, the invention provides the following technical scheme: a hexapod robot comprises a robot base, metal walking legs and supporting legs, wherein the metal walking legs are symmetrically arranged on the outer side of the robot base, the supporting legs are arranged at the bottom ends of the metal walking legs, the number of the metal walking legs is six, a fixed column is fixedly connected to the top end of the inner portion of the robot base, the fixed column is located in the middle of the robot base, the outer sides of the fixed columns are uniformly arranged on steering gears, connecting plates are fixedly connected to the shaft ends of the steering gears, a first electric push rod is fixedly connected to one side, away from the steering gears, of each connecting plate, the first electric push rod is located at the upper end of the corresponding connecting plate, a first driving arm is fixedly connected to the output end of the first electric push rod, a second driving arm is rotatably connected to one side, below the first electric push rod, of each connecting plate is located through a transmission shaft, a metal reduction gearbox is arranged at one end of each transmission shaft, a stepping motor is arranged on one side of each metal reduction gearbox, the output end of the stepping motor is in transmission connection with the transmission shaft through the metal reduction gearbox.
Preferably, six steering engines are arranged on the outer sides of the fixing columns corresponding to the metal walking legs.
Preferably, the other end of the first driving arm is fixedly connected with a first connecting rod, and the other end of the first connecting rod is rotatably connected with the upper end of the metal walking leg through a pin shaft.
Preferably, the other end of the second driving arm is fixedly connected with a second connecting rod, the other end of the second connecting rod is rotatably connected with a second electric push rod, and the second electric push rod is fixedly connected with the metal walking leg.
Preferably, the output ends of the second electric push rods are fixedly connected with sliding blocks, the sliding blocks are connected to the inner sides of the metal walking legs in a sliding mode, the second electric push rods are located inside the metal walking legs, and the sliding blocks are fixedly connected with the supporting legs.
Preferably, the bottom end of the robot base is fixedly connected with a bottom plate, a movable window is arranged on the outer side of the robot base corresponding to the metal walking legs, and the first driving arm and the second driving arm are both located inside the movable window.
Preferably, the metal reduction gearbox is located on the same side of the connecting plate, one side of the connecting plate, which is close to the metal reduction gearbox, is fixedly connected with a fixing ring, the bottom end of the fixing ring is in threaded connection with a fixing bolt, and the stepping motor is fixedly connected to the inner side of the fixing ring through the fixing bolt.
Preferably, the first driving arm, the second driving arm, the first connecting rod and the second connecting rod are all made of metal materials.
A high-speed motion mode of a hexapod robot comprises the following steps:
the method comprises the following steps: selecting the corresponding metal reduction gearbox according to the weight to be borne by the robot base, wherein the metal reduction gearbox is an existing product on the market, and then assembling the metal reduction gearbox and the robot main body;
step two: the six metal walking legs alternately do work, when the robot does work alternately, the stepping motor in the robot base drives the transmission shaft to rotate through the metal reduction box, the transmission shaft drives the second driving arm fixedly connected to the outer side of the transmission shaft to rotate, the second driving arm drives the metal walking legs to be separated from the ground while rotating, meanwhile, the first electric push rod on one side of the connecting plate pushes the first driving arm to move, and the metal walking legs rotate under the pulling action to lift the metal walking legs;
step three: when the metal walking legs fall down, the first electric push rod pushes the first driving arm in the opposite direction, after the support legs at the bottom ends of the metal walking legs touch the ground again, the first electric push rod continues to push and pull the first driving arm, the metal walking legs are further pushed to rotate, power is provided for rotation of the metal walking legs, the support legs provide stable support for the metal walking legs, the metal walking legs can provide power for movement of a robot, and the touch positions of the support legs are changed through the steering engine.
Preferably, the first step comprises the following steps:
s1: replacing the first driving arm and the second driving arm with metal materials to increase the bearing capacity of the robot base;
s2: the bottom end of the robot base is opened, then the output end of the stepping motor is separated from the metal reduction gearbox, the stepping motor is assembled again after the metal reduction gearbox is replaced, the metal reduction gearbox compares the rotating speed of the second driving arm according to a certain transmission ratio, and then the retraction speed of the metal walking leg is adjusted.
Compared with the prior art, the invention provides a high-speed motion mode of a hexapod robot, which has the following beneficial effects:
1. according to the robot, the six metal walking legs and the metal reduction boxes are arranged, the six metal walking legs alternately do work in the high-speed movement process, compared with the traditional plastic robot, the robot adopts metal materials, the bearing ratio is greatly increased compared with plastics, the reduction boxes mature in the market are directly used, a proper reduction ratio can be selected according to requirements, and the load capacity and the speed are reasonably adjusted;
2. according to the robot, the first electric push rod is arranged, the first driving arm is pushed to move by the first electric push rod in the lifting process of the metal walking leg, the metal walking leg rotates under the pulling action, so that the metal walking leg is lifted, the first driving arm is pushed by the first electric push rod in the opposite direction in the falling process of the metal walking leg, the first driving arm is continuously pushed and pulled by the first electric push rod after the support leg at the bottom end of the metal walking leg is landed again, the metal walking leg is pushed to rotate, power is provided for the rotation of the metal walking leg, the support leg provides stable support for the metal walking leg, and the metal walking leg can provide power for the movement of the robot;
3. according to the invention, the stepping motor is arranged, the metal reduction gearbox is assembled with the stepping motor, the metal reduction gearbox adjusts the rotating speed of the second driving arm according to a certain transmission ratio, and then adjusts the retraction speed of the metal walking leg, so that the movement capacity of the robot can be adjusted.
The device has the advantages that the structure is scientific and reasonable, the use is safe and convenient, and great help is provided for people.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention without limiting the invention in which:
fig. 1 is a schematic perspective view of a hexapod robot in a high-speed motion mode according to the present invention;
FIG. 2 is a schematic diagram of the internal front view structure of a robot base in the high-speed motion mode of a hexapod robot according to the present invention;
FIG. 3 is a schematic diagram of an internal top view structure of a robot base in a high-speed motion mode of a hexapod robot according to the present invention;
FIG. 4 is a schematic front view of a robot base in a high-speed movement mode of a hexapod robot according to the present invention;
FIG. 5 is a schematic view of the internal structure of a walking leg of a hexapod robot in a high-speed movement mode according to the present invention;
in the figure: the robot comprises a robot base 1, metal walking legs 2, support legs 3, fixing columns 4, a steering engine 5, a connecting plate 6, a first electric push rod 7, a first driving arm 8, a transmission shaft 9, a second driving arm 10, a metal reduction box 11, a stepping motor 12, a first connecting rod 13, a pin shaft 14, a second connecting rod 15, a second electric push rod 16, a sliding block 17, a bottom plate 18, a fixing ring 19, a fixing bolt 20 and a movable window 21.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
Referring to fig. 1-5, the present invention provides a technical solution: a hexapod robot comprises a robot base 1, metal walking legs 2 symmetrically arranged on the outer side of the robot base 1 and support legs 3 positioned at the bottom ends of the metal walking legs 2, the number of the metal walking legs 2 is six, fixed columns 4 are fixedly connected to the top end of the interior of the robot base 1, the fixed columns 4 are positioned in the middle of the robot base 1, the outer sides of the fixed columns 4 are uniformly arranged on a steering engine 5, the shaft ends of the steering engine 5 are fixedly connected with a connecting plate 6, one side, away from the steering engine 5, of the connecting plate 6 is fixedly connected with a first electric push rod 7, the first electric push rod 7 is positioned at the upper end of the connecting plate 6, the output end of the first electric push rod 7 is fixedly connected with a first driving arm 8, one side of the connecting plate 6 is positioned below the first electric push rod 7 and is rotatably connected with a second driving arm 10 through a transmission shaft 9, one end of the transmission shaft 9 is provided with a stepping motor 12, the output end of the stepping motor 12 is in transmission connection with the transmission shaft 9.
The working principle and the using process of the invention are as follows: when the robot is used, in the process of high-speed movement, the six metal walking legs 2 alternately do work, when the robot alternately does work, the stepping motor 12 in the robot base 1 drives the transmission shaft 9 to rotate, the transmission shaft 9 drives the second driving arm 10 fixedly connected with the outer side of the transmission shaft 9 to rotate, the second driving arm 10 drives the metal walking legs 2 to be separated from the ground while rotating, the first electric push rod 7 on one side of the connecting plate 6 pushes the first driving arm 8 to move, the metal walking legs 2 rotate under the pulling action to lift the metal walking legs 2, when the metal walking legs 2 fall down, the first electric push rod 7 pushes the first driving arm 8 in the opposite direction, when the support legs 3 at the bottom ends of the metal walking legs 2 land again, the first electric push rod 7 continues to push and pull the first driving arm 8 to push the metal walking legs 2 to rotate so as to provide power for the rotation of the metal walking legs 2, stabilizer blade 3 provides stable support for metal walking leg 2, and then metal walking leg 2 can provide power for the motion of robot, changes the position that lands of stabilizer blade 3 through turning to steering wheel 5, and then makes the robot remove, compares with traditional plastics material robot, adopts metal walking leg 2, and plastics greatly increased is compared in the bearing, has increased the application scope of robot.
Example two
Referring to fig. 1-5, the present invention provides a technical solution: a hexapod robot comprises a robot base 1, metal walking legs 2 symmetrically arranged on the outer side of the robot base 1 and support legs 3 positioned at the bottom ends of the metal walking legs 2, the number of the metal walking legs 2 is six, fixed columns 4 are fixedly connected to the top end of the interior of the robot base 1, the fixed columns 4 are positioned in the middle of the robot base 1, the outer sides of the fixed columns 4 are uniformly arranged on a steering engine 5, the shaft ends of the steering engine 5 are fixedly connected with a connecting plate 6, one side, away from the steering engine 5, of the connecting plate 6 is fixedly connected with a first electric push rod 7, the first electric push rod 7 is positioned at the upper end of the connecting plate 6, the output end of the first electric push rod 7 is fixedly connected with a first driving arm 8, one side of the connecting plate 6 is positioned below the first electric push rod 7 and is rotatably connected with a second driving arm 10 through a transmission shaft 9, one end of the transmission shaft 9 is provided with a metal reduction box 11, one side of the metal reduction box 11 is provided with a stepping motor 12, and the output end of the stepping motor 12 is in transmission connection with the transmission shaft 9 through the metal reduction box 11.
In the invention, preferably, six steering engines 5 are arranged on the outer sides of the fixed columns 4 corresponding to the metal walking legs 2, and the landing positions of the support legs 3 are changed through the steering engines 5 so as to push the robot to move.
In the invention, preferably, the other ends of the first driving arms 8 are fixedly connected with first connecting rods 13, and the other ends of the first connecting rods 13 are rotatably connected with the upper ends of the metal walking legs 2 through pin shafts 14.
In the present invention, preferably, the other end of the second driving arm 10 is fixedly connected to a second connecting rod 15, the other end of the second connecting rod 15 is rotatably connected to a second electric push rod 16, and the second electric push rod 16 is fixedly connected to the metal walking leg 2.
In the invention, preferably, the output ends of the second electric push rods 16 are fixedly connected with the sliding blocks 17, the sliding blocks 17 are connected to the inner sides of the metal walking legs 2 in a sliding manner, the second electric push rods 16 are located inside the metal walking legs 2, and the sliding blocks 17 are fixedly connected with the support legs 3.
In the present invention, preferably, the bottom end of the robot base 1 is fixedly connected with the bottom plate 18, the outer side of the robot base 1 is provided with a movable window 21 corresponding to the metal walking leg 2, and the first active arm 8 and the second active arm 10 are both located inside the movable window 21.
In the invention, preferably, the metal reduction boxes 11 are all located on the same side of the connecting plate 6, one sides of the connecting plate 6 close to the metal reduction boxes 11 are all fixedly connected with fixing rings 19, the bottom ends of the fixing rings 19 are all in threaded connection with fixing bolts 20, and the stepping motors 12 are fixedly connected to the inner sides of the fixing rings 19 through the fixing bolts 20.
In the present invention, it is preferable that the first active arm 8, the second active arm 10, the first link 13, and the second link 15 are made of metal.
A high-speed motion mode of a hexapod robot comprises the following steps:
the method comprises the following steps: selecting a corresponding metal reduction gearbox 11 according to the weight to be borne by the robot base 1, wherein the metal reduction gearbox 11 is an existing product on the market, and then assembling the metal reduction gearbox 11 and the robot main body;
step two: the six metal walking legs 2 alternately do work, when the alternating work is done, a stepping motor 12 in the robot base 1 drives a transmission shaft 9 to rotate through a metal reduction box 11, the transmission shaft 9 drives a second driving arm 10 fixedly connected to the outer side of the transmission shaft 9 to rotate, the second driving arm 10 drives the metal walking legs 2 to be separated from the ground while rotating, meanwhile, a first electric push rod 7 on one side of a connecting plate 6 pushes a first driving arm 8 to move, the metal walking legs 2 rotate under the pulling action, and then the metal walking legs 2 are lifted;
step three: when the metal walking legs 2 fall down, the first electric push rod 7 pushes the first driving arm 8 in the opposite direction, after the support legs 3 at the bottom ends of the metal walking legs 2 land again, the first electric push rod 7 continues to push and pull the first driving arm 8, the metal walking legs 2 are further pushed to rotate, power is provided for rotation of the metal walking legs 2, the support legs 3 provide stable support for the metal walking legs 2, the metal walking legs 2 can provide power for movement of a robot, and the landing positions of the support legs 3 are changed through the steering engine 5.
In the present invention, preferably, the first step includes the following steps:
s1: the first driving arm 8 and the second driving arm 10 are replaced by metal materials, so that the bearing capacity of the robot base 1 is improved;
s2: the bottom end of the robot base 1 is opened, then the output end of the stepping motor 12 is separated from the metal reduction gearbox 11, the stepping motor 12 is assembled again after the metal reduction gearbox 11 is replaced, the rotating speed of the second driving arm 10 is adjusted according to a certain transmission ratio through the metal reduction gearbox 11, and then the retraction speed of the metal walking leg 2 is adjusted.
The working principle and the using process of the invention are as follows: when in use, the bottom end of the robot base 1 is opened through the bottom plate 18, then the fixing bolt 20 is screwed, the stepping motor 12 can move on the inner side of the fixing ring 19, then the output end of the stepping motor 12 is separated from the metal reduction gearbox 11, the stepping motor 12 is assembled again after the metal reduction gearbox 11 is replaced, the metal reduction gearbox 11 adjusts the rotating speed of the second driving arm 10 according to a certain transmission ratio, further adjusts the retraction speed of the metal walking legs 2, the metal reduction gearbox 11 is a product existing in the market, then the metal reduction gearbox 11 is assembled with the robot main body, the first driving arm 8, the second driving arm 10, the first connecting rod 13 and the second connecting rod 15 are replaced by metal materials, the bearing capacity of the robot base 1 is increased, in the process of high-speed movement, the six metal walking legs 2 alternately do work, and in the process of alternately doing work, a stepping motor 12 in a robot base 1 drives a transmission shaft 9 to rotate through a metal reduction box 11, the transmission shaft 9 drives a second driving arm 10 fixedly connected with the outer side of the transmission shaft 9 to rotate, the second driving arm 10 drives a metal walking leg 2 to be separated from the ground while rotating, meanwhile, a first electric push rod 7 on one side of a connecting plate 6 pushes a first driving arm 8 to move, the metal walking leg 2 rotates under the pulling action, and then the metal walking leg 2 is lifted, when the metal walking leg 2 falls down, the first electric push rod 7 pushes the first driving arm 8 in the opposite direction, when a support leg 3 at the bottom end of the metal walking leg 2 lands again, the first electric push rod 7 continues to push and pull the first driving arm 8, so as to push the metal walking leg 2 to rotate, power is provided for the rotation of the metal walking leg 2, the support leg 3 provides stable support for the metal walking leg 2, and the metal walking leg 2 can provide power for the movement of the robot, through turning to steering wheel 5 and changing the position that lands of stabilizer blade 3, and then make the robot remove, compare with traditional plastics material robot, adopt metal material, the bearing is than plastics greatly increased, direct with ripe reducing gear box on the market, can select suitable reduction ratio according to the demand, reasonable adjustment load capacity and speed, second electric putter 16 of 2 inside settings of metal walking leg is through promoting slider 17, and then make slider 17 drive stabilizer blade 3 and remove, thereby support robot base 1 and metal walking leg 2, the use height of robot base 1 has been increased.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides a hexapod robot, includes robot base (1) and symmetry set up in metal walking leg (2) in the robot base (1) outside and be located stabilizer blade (3) of metal walking leg (2) bottom, and the quantity of metal walking leg (2) is six, its characterized in that: the top end inside the robot base (1) is fixedly connected with a fixed column (4), the fixed column (4) is located in the middle of the robot base (1), the outer sides of the fixed columns (4) are uniformly arranged on a steering engine (5), shaft ends of the steering engine (5) are fixedly connected with a connecting plate (6), one side, away from the steering engine (5), of the connecting plate (6) is fixedly connected with a first electric push rod (7), the first electric push rod (7) is located at the upper end of the connecting plate (6), the output end of the first electric push rod (7) is fixedly connected with a first driving arm (8), one side of the connecting plate (6) is located below the first electric push rod (7) and is rotatably connected with a second driving arm (10) through a transmission shaft (9), one end of the transmission shaft (9) is provided with a metal reduction gearbox (11), one side of the metal reduction gearbox (11) is provided with a stepping motor (12), the output end of the stepping motor (12) is in transmission connection with the transmission shaft (9) through the metal reduction box (11).
2. The hexapod robot of claim 1, wherein: six steering engines (5) are arranged on the outer side of the fixed column (4) corresponding to the metal walking legs (2).
3. The hexapod robot of claim 1, wherein: the other end of the first driving arm (8) is fixedly connected with a first connecting rod (13), and the other end of the first connecting rod (13) is rotatably connected with the upper end of the metal walking leg (2) through a pin shaft (14).
4. The hexapod robot of claim 1, wherein: the other end of the second driving arm (10) is fixedly connected with a second connecting rod (15), the other end of the second connecting rod (15) is rotatably connected with a second electric push rod (16), and the second electric push rod (16) is fixedly connected with the metal walking leg (2).
5. The hexapod robot of claim 4, wherein: the equal fixedly connected with slider (17) of output of second electric putter (16), the equal sliding connection in the inboard of metal walking leg (2) of slider (17), just second electric putter (16) all are located the inside of metal walking leg (2), slider (17) all with stabilizer blade (3) fixed connection.
6. The hexapod robot of claim 1, wherein: robot base (1) bottom fixedly connected with bottom plate (18), the robot base (1) outside corresponds metal walking leg (2) are provided with activity window (21), first initiative arm (8) and second initiative arm (10) all are located the inside of activity window (21).
7. The hexapod robot of claim 1, wherein: the metal reduction gearbox (11) is located on the same side of the connecting plate (6), one side, close to the metal reduction gearbox (11), of the connecting plate (6) is fixedly connected with a fixing ring (19), the bottom end of the fixing ring (19) is connected with a fixing bolt (20) in a threaded mode, and the stepping motor (12) is fixedly connected to the inner side of the fixing ring (19) through the fixing bolt (20).
8. The hexapod robot of claim 1, wherein: the first driving arm (8), the second driving arm (10), the first connecting rod (13) and the second connecting rod (15) are all made of metal materials.
9. The high-speed motion mode of the hexapod robot according to claim 1, wherein: the method comprises the following steps:
the method comprises the following steps: selecting the corresponding metal reduction gearbox (11) according to the weight to be borne by the robot base (1), wherein the metal reduction gearbox (11) is an existing product on the market, and then assembling the metal reduction gearbox (11) and the robot main body;
step two: the six metal walking legs (2) alternately do work, when the robot base (1) alternately does work, the stepping motor (12) inside the robot base (1) drives the transmission shaft (9) to rotate through the metal reduction gearbox (11), the transmission shaft (9) drives the second driving arm (10) fixedly connected with the outer side of the transmission shaft to rotate, the second driving arm (10) drives the metal walking legs (2) to be separated from the ground while rotating, meanwhile, the first electric push rod (7) on one side of the connecting plate (6) pushes the first driving arm (8) to move, and the metal walking legs (2) rotate under the pulling action to lift the metal walking legs (2);
step three: when the metal walking legs (2) fall down, the first driving arm (8) is pushed in the opposite direction by the first electric push rod (7), when the support legs (3) at the bottom ends of the metal walking legs (2) land again, the first driving arm (8) is pushed and pulled continuously by the first electric push rod (7), the metal walking legs (2) are further pushed to rotate, power is provided for rotation of the metal walking legs (2), the support legs (3) provide stable support for the metal walking legs (2), the metal walking legs (2) can provide power for movement of a robot, and the landing positions of the support legs (3) are changed through the steering engine (5).
10. The high-speed motion mode of the hexapod robot according to claim 9, wherein: the first step comprises the following steps:
s1: the first driving arm (8) and the second driving arm (10) are replaced by metal materials, so that the bearing capacity of the robot base (1) is improved;
s2: the bottom end of the robot base (1) is opened, then the output end of the stepping motor (12) is separated from the metal reduction gearbox (11), the stepping motor (12) is assembled again after the metal reduction gearbox (11) is replaced, the rotating speed of the second driving arm (10) is adjusted according to certain transmission ratio by the metal reduction gearbox (11), and then the retraction speed of the metal walking leg (2) is adjusted.
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| CN104176146A (en) * | 2014-09-17 | 2014-12-03 | 哈尔滨理工大学 | Toe-supporting type quadruped robot with climbing, grabbing and excavating functions |
| CN207725509U (en) * | 2017-11-07 | 2018-08-14 | 深圳雅尔卑斯动力有限公司 | Leg mechanism of robot and Hexapod Robot |
| CN109367646A (en) * | 2018-11-19 | 2019-02-22 | 中国船舶重工集团公司第七〇九研究所 | A kind of modular reconfigurable multi-foot robot |
| CN111216823A (en) * | 2019-10-31 | 2020-06-02 | 广东省智能制造研究所 | Modular foot type single leg and cycloid planning method based on low speed reduction ratio motor technology |
| CN113581317A (en) * | 2021-07-28 | 2021-11-02 | 南方科技大学 | Bionic hexapod robot |
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