CN114590338A - Skating hexapod robot structure - Google Patents
Skating hexapod robot structure Download PDFInfo
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- CN114590338A CN114590338A CN202210241855.8A CN202210241855A CN114590338A CN 114590338 A CN114590338 A CN 114590338A CN 202210241855 A CN202210241855 A CN 202210241855A CN 114590338 A CN114590338 A CN 114590338A
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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 application discloses skating hexapod robot structure includes: the robot comprises a robot main body and front legs, wherein the first ends of the front legs are rotatably arranged on the robot main body, and the second ends of the front legs are rotatably arranged on an ice skating board; the first end of the middle leg is rotatably arranged on the robot main body, and the second end of the middle leg is rotatably arranged on the ice skating board; the first ends of the rear legs are rotatably arranged on the robot main body, and the second ends of the rear legs are rotatably arranged on the ice skating board; the front leg, the middle leg and the rear leg which are arranged on the same side are arranged on the same skating board; the bottom of the skating board is also provided with an ice skate blade. This application is connected the front leg, middle leg and the back leg that will set up with one side through rotating the connection design and is connected to a skating board, through the actuating mechanism on the three legs of drive, can make skating board realize required action when the skating, because the front leg, middle leg and the back leg that set up with one side control a skating board, can have enough strength drive skating board to realize the load that various angle changes need.
Description
Technical Field
The application belongs to the technical field of robots, and particularly relates to a skating hexapod robot structure.
Background
At present, foot type robots at home and abroad are rapidly developed, and the foot type robots mainly used for skating have two feet and four feet. In the biped skating robot, a humanoid robot HRP-2 developed by Tokyo university of Japan keeps balanced skating on a skateboard. The control strategy is divided into two parts: a skating motion generator and a skating motion stabilizer. The motion generator adopts a Zero Moment Point (ZMP) method to carry out motion planning, the robot controls the contact force on the ground, the contact force is pushed by one leg and keeps balance, in the motion stabilizer, the ZMP and the reference foot force are tracked by adjusting the pressure distribution of the sole, the adjusting method solves the contradiction of keeping body balance and inhibiting slippage, HRP-2 can successfully accelerate and keep body balance by applying the real-time controllers, and the maximum sliding speed is 0.5 m/s.
In the field of quadruped robots, the federal institute of technology (ETH) in zurich, switzerland proposes a novel modular wheel-leg coupled quadruped robot, the robot assembly comprising: the device comprises a servo motor, a 3D printing connecting piece and wheels arranged at the foot ends of mechanical legs, wherein the wheels can be driving wheels driven by the motor, driven wheels not driven by the motor and welding wheels incapable of rotating. The research team focuses more on a track optimization method, the robot can autonomously realize the movements of walking, wheel type advancing, skating and the like according to the morphological design of different robots, and the body balance control and the direction control of the robot are realized by the real-time dynamic adjustment of legs in the moving process.
Disclosure of Invention
In view of the above-mentioned shortcomings or drawbacks of the prior art, the present application provides a skating hexapod robot structure.
In order to solve the technical problem, the application is realized by the following technical scheme:
the application provides a skating hexapod robot structure includes:
the main body of the robot is provided with a plurality of robots,
the first ends of the front legs are rotatably arranged on the robot main body, and the second ends of the front legs are rotatably arranged on the ice skating board;
the first end of the middle leg is rotatably arranged on the robot main body, and the second end of the middle leg is rotatably arranged on the ice skating board;
the first ends of the rear legs are rotatably arranged on the robot main body, and the second ends of the rear legs are rotatably arranged on the ice skating board;
wherein the front legs, the middle legs and the rear legs which are arranged on the same side are arranged on the same skating board;
and an ice skate blade is also arranged at the bottom of the ice skating board.
Optionally, the skating hexapod robot structure as described above, wherein the skating board is a T-like structure.
Optionally, the skating hexapod robot structure as described above, wherein the second ends of the front leg, the middle leg, and the rear leg are all mounted on the skating board through a three-dimensional rotating mechanism.
Optionally, in the ice skating hexapod robot structure, a first mounting groove for mounting the three-dimensional rotating mechanism is formed in the ice skating board.
Optionally, the skating hexapod robot structure further comprises a six-dimensional force sensor mounted on the skating board.
Optionally, in the skating hexapod robot structure, a second mounting groove for mounting the six-dimensional force sensor is further provided on the skating board.
Optionally, the skating hexapod robot structure as described above, wherein the front leg comprises: the robot comprises a robot main body, a first thigh and a first shank, wherein the robot main body is provided with a first ice skate board, the first thigh is rotatably connected with the first thigh, the first shank is rotatably connected with the robot main body, and the first shank is rotatably connected with the ice skating board;
and/or the presence of a gas in the gas,
the front leg further comprises: a first drive module disposed on the first thigh, the first drive module comprising: a first swing motor, a first hip joint motor and a first knee joint motor,
the first swing motor is used for driving the front legs to swing laterally, the first hip joint motor is used for driving the first thighs to rotate, and the first knee joint motor drives the first shanks to rotate through the first gear conveyor belt component; a first gear-and-belt assembly mounted inside the first thigh;
and/or the presence of a gas in the gas,
the first gear belt assembly comprises: a first driving gear, a first driven gear and a first conveyor belt,
the first driving gear is arranged at the first end of the first thigh and is also connected with the first knee joint motor;
the first driven gear is arranged at the second end of the first thigh, and a first shank is further arranged on the first driven gear;
the first conveyor belt is meshed with the first driving gear and the first driven gear;
and/or the presence of a gas in the gas,
and a first pressing wheel used for pressing the first conveyor belt is further mounted in the first thigh, and the first pressing wheel is arranged on the outer side of the first conveyor belt.
Optionally, the skating hexapod robot structure as described above, wherein the rear leg comprises: the robot comprises a robot main body, a first thigh and a first shank, wherein the robot main body is provided with a first robot main body, the first thigh is rotatably connected with the robot main body, and the first shank is rotatably connected with a skating board;
and/or the presence of a gas in the gas,
the rear leg further comprises: a second drive module disposed on the second thigh, the second drive module comprising: a second swing motor, a second hip joint motor and a second knee joint motor,
the second swing motor is used for driving the rear leg to swing in the lateral direction, the second hip joint motor is used for driving the second thigh to rotate, and the second knee joint motor drives the second shank to rotate through the second gear conveyor belt component; a second gear belt assembly is mounted inside the second thigh.
And/or the presence of a gas in the gas,
the second gear belt assembly includes: a second driving gear, a second driven gear, and a second conveyor belt,
the second driving gear is installed at the first end of the second thigh and is also connected with the second knee joint motor;
the second driven gear is arranged at the second end of the second thigh, and a second shank is also arranged on the second driven gear;
the second conveyor belt is meshed with the second driving gear and the second driven gear;
and/or the presence of a gas in the gas,
and a second pressing wheel used for pressing the second conveyor belt is further mounted in the second thigh, and the second pressing wheel is arranged on the outer side of the second conveyor belt.
Optionally, the skating hexapod robot structure as described above, wherein the middle leg comprises: the third thigh is further rotatably connected with the robot main body, and the third shank is further rotatably connected with the skating board;
and/or the presence of a gas in the gas,
the middle leg further comprises: a third drive module disposed on the third thigh, the third drive module comprising: a third swing motor, a third hip joint motor and a third knee joint motor,
the third swing motor is used for driving the middle leg to swing laterally, the third hip joint motor is used for driving the third thigh to rotate, and the third knee joint motor drives the third shank to rotate through a third gear conveyor belt component; a third gear belt assembly is mounted inside the third thigh;
and/or the presence of a gas in the gas,
the third driving module further comprises: the output end of the third swing motor is connected with the third hip joint motor through the four-link assembly, and the third hip joint motor is also connected with the input end of the third knee joint motor;
and/or the presence of a gas in the gas,
the third gear-belt assembly comprises: a third driving gear, a third driven gear, and a third belt,
the third driving gear is arranged at the first end of the third thigh and is also connected with the third knee joint motor;
the third driven gear is arranged at the second end of the third thigh, and a third shank is also arranged on the third driven gear;
the third conveyor belt is meshed with the third driving gear and the third driven gear;
and/or the presence of a gas in the gas,
and a third pressing wheel used for pressing the third conveyor belt is further mounted in the third thigh, and the third pressing wheel is arranged on the outer side of the third conveyor belt.
Compared with the prior art, the method has the following technical effects:
the six-legged robot has the advantages that through the design of rotary connection, the front legs, the middle legs and the rear legs arranged on the same side are connected to the skating board, the skating board can achieve required actions during skating by driving the driving mechanisms on the three legs, and meanwhile, the front legs, the middle legs and the rear legs arranged on the same side control the skating board, so that enough force can be provided for driving the skating board to achieve loads required by various angle changes;
in the application, the skating board is used as the tail end of the parallel mechanism, enough force can be output to finish the ice pedaling action, the power-assisted robot slides at a higher speed and has a certain bearing capacity, the stability of the robot is improved, the posture control and the balance control of the robot main body can be realized by feeding back data such as gyroscope information, a motor rotating angle, a six-dimensional force sensor above an ice skate and the like which are arranged on the robot main body, and the reliability of the robot is improved;
in the application, due to the unique design of a leg transmission structure, three legs on the left side and the right side are respectively connected onto one skating board through a three-dimensional rotating mechanism, the skating board on one side is provided with 3 legs, the translation and the rotation of the skating board in a three-dimensional space can be realized by driving 9 motors, the tail end freedom degree is high, and the actions required by skating and the multi-mode skating actions can be completed by reasonably planning the track of a robot main body and a skate blade.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1: the three-dimensional structure schematic diagram of the skating hexapod robot structure in one embodiment of the application;
FIG. 2: the structure of the front leg in one embodiment of the application is schematically shown;
FIG. 3: the structure of the rear leg in one embodiment of the application is schematically shown;
FIG. 4: the structure of the middle leg in one embodiment of the application is schematically shown;
FIG. 5: the first structural schematic diagram of the ice skating board in the embodiment of the application;
FIG. 6: the structural schematic diagram of the ice skating board in the embodiment of the application is II;
FIG. 7: the structure schematic diagram of the three-dimensional rotating mechanism in one embodiment of the application;
FIG. 8: the first structural schematic diagram of the skating hexapod robot in the embodiment of the application when the robot slides linearly;
FIG. 9: a second structural schematic diagram of the skating hexapod robot structure in the embodiment of the application when sliding linearly;
FIG. 10: a third structural schematic diagram of the skating hexapod robot in the embodiment of the application when the robot slides linearly;
FIG. 11: the skating hexapod robot structure of the embodiment of the application executes a quick acceleration action;
FIG. 12: a second structural schematic diagram of the skating hexapod robot structure in the embodiment of the present application executing a rapid acceleration action;
FIG. 13: a third schematic structural diagram of the skating hexapod robot structure in the embodiment of the present application, which executes a rapid acceleration action;
FIG. 14: the skating hexapod robot structure gourd skating external eight-posture diagram in the embodiment of the application;
FIG. 15: the internal eight-posture sliding diagram of the skating hexapod robot structure is provided.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.
As shown in fig. 1 to 7, a skating hexapod robot structure, comprising:
the robot main body 10 is provided with,
a front leg 20, a first end of the front leg 20 being rotatably mounted on the robot main body 10, and a second end of the front leg 20 being rotatably mounted on the skateboard 50;
a middle leg 40, a first end of the middle leg 40 being rotatably mounted on the robot main body 10, and a second end of the middle leg 40 being rotatably mounted on the skateboard 50;
a rear leg 30, a first end of the rear leg 30 being rotatably mounted on the robot main body 10, and a second end of the rear leg 30 being rotatably mounted on the skateboard 50;
wherein the front leg 20, the middle leg 40 and the rear leg 30 which are arranged at the same side are arranged on the same skating board 50;
an ice blade 51 is further installed at the bottom of the ice-skating board 50.
In this embodiment, preferably, there are two front legs 20, two rear legs 30 and two middle legs 40, wherein one of the front legs 20, the rear legs 30 disposed on the same side and the middle legs 40 disposed on the same side are rotatably mounted on the same skating board 50, and the other of the front legs 20, the rear legs 30 disposed on the same side and the middle legs 40 disposed on the same side are rotatably mounted on the other skating board 50. In this case, the present embodiment is preferably a hexapod robot.
Preferably, in the present embodiment, the skate board 50 has a T-like structure. As shown in fig. 1, the front leg 20 and the rear leg 30 disposed on the same side are rotatably mounted at the front end and the rear end of the T-shaped structure, and the middle leg 40 disposed on the same side is disposed between the front leg 20 and the rear leg 30, that is, the middle leg 40 is rotatably mounted at the end of the branch portion of the T-shaped structure.
As shown in fig. 1, 6 and 7, second ends of the front leg 20, the middle leg 40 and the rear leg 30 are mounted on the skateboard 50 through a three-dimensional rotation mechanism 60. The three-dimensional rotating mechanism 60 can realize X, Y, Z-axis direction, namely three-dimensional space rotation, and increases the motion space of 3-direction rotation of different leg and foot tips.
Further, as shown in fig. 6, a first mounting groove 61 for mounting the three-dimensional rotating mechanism 60 is provided on the skate board 50. Wherein the three-dimensional rotating mechanism 60 is preferably detachably attached to the first mounting groove 61.
In the present embodiment, as shown in fig. 1 and 5, a six-dimensional force sensor 70 is further mounted on the skateboard 50. Preferably, the six-dimensional force sensor 70 is disposed right above the ice blade 51, and the six-dimensional force sensor 70 is configured to sense a reaction force and a moment of the ice surface received by the skateboard 50 in real time, and is used for balance control and motion analysis of the robot main body 10.
Further, as shown in fig. 6, a second mounting groove 71 for mounting the six-dimensional force sensor 70 is further provided on the skate board 50. Wherein the six-dimensional force sensor 70 is preferably detachably mounted on the second mounting groove 71.
As shown in fig. 2, the front leg 20 includes: the robot comprises a first thigh 21 and a first shank 22 rotatably connected with the first thigh 21, wherein the first thigh 21 is further rotatably connected with the robot body 10, and the first shank 22 is further rotatably connected with the skateboard 50.
Wherein, in the present embodiment, the front leg 20 has three degrees of freedom.
The front leg 20 further comprises: a first drive module disposed on the first thigh 21, the first drive module comprising: a first swing motor 23, a first hip joint motor 24 and a first knee joint motor 25,
the first swing motor 23 is used for driving the front leg 20 to swing laterally, the first hip joint motor 24 is used for driving the first thigh 21 to rotate, and the first knee joint motor 25 is used for driving the first shank 22 to rotate through a first gear belt assembly; a first gear-and-belt assembly is mounted inside said first thigh 21.
The output end of the first swing motor 23 is connected to the input end of the first hip joint motor 24, and the output end of the first hip joint motor 24 is further connected to the first knee joint motor 25. The above is just one way in which this can be achieved.
The first gear-belt assembly comprises: a first driving gear, a first driven gear and a first conveyor belt,
the first driving gear is installed at a first end of the first thigh 21, and the first driving gear is further connected with the first knee joint motor 25;
the first driven gear is arranged at the second end of the first thigh 21, and a first shank 22 is also arranged on the first driven gear;
the first belt is engaged with the first driving gear and the first driven gear.
Further preferably, in this embodiment, a first pressing wheel for pressing the first conveyor belt is further installed inside the first thigh 21, and the first pressing wheel is disposed outside the first conveyor belt.
It should be noted that the first swing motor 23 is configured to swing the front leg 20 laterally, the first hip joint motor 24 is configured to drive the first thigh 21 to rotate, and the first knee joint motor 24 is disposed near the robot body 10 to reduce the inertia of the front leg 20, and the movement of the knee joint is configured to transmit the driving force or speed by means of the first gear-and-belt assembly.
As shown in fig. 3, the rear leg 30 includes: a second upper leg 31 and a second lower leg 32 rotatably connected to the second upper leg 31, wherein the second upper leg 31 is further rotatably connected to the robot main body 10, and the second lower leg 32 is further rotatably connected to the skateboard 50.
Wherein the rear leg 30 and the front leg 20 have substantially the same structure. The rear leg 30 likewise has three degrees of freedom.
The rear leg 30 further includes: a second drive module disposed on the second thigh 31, the second drive module comprising: a second swing motor 23, a second hip joint motor 34 and a second knee joint motor 35,
the second swing motor 23 is used for driving the rear leg 30 to swing laterally, the second hip joint motor 34 is used for driving the second thigh 31 to rotate, and the second knee joint motor 35 is used for driving the second shank 32 to rotate through a second gear belt assembly; a second gear belt assembly is mounted inside the second thigh 31.
The output end of the second swing motor 23 is connected to the input end of the second hip joint motor 34, and the output end of the second hip joint motor 34 is further connected to the second knee joint motor 35. The above is just one way in which this can be achieved.
The second gear belt assembly includes: a second driving gear, a second driven gear, and a second conveyor belt,
the second driving gear is installed at a first end of the second thigh 31, and the second driving gear is further connected with the second knee joint motor 35;
the second driven gear is arranged at the second end of the second thigh 31, and a second shank 32 is also arranged on the second driven gear;
the second conveyor belt is engaged with the second drive gear and the second driven gear.
Optionally, a second pressing wheel for pressing the second conveyor belt is further installed inside the second thigh 31, and the second pressing wheel is disposed outside the second conveyor belt.
Wherein the second swing motor 23 realizes the lateral swing of the rear leg 30, the second hip joint motor 34 drives the second thigh 31 to rotate, the second knee joint motor is arranged near the robot body 10 in order to reduce the inertia of the rear leg 30, and the movement of the knee joint realizes the transmission of the driving force or speed by means of the second gear belt assembly.
As shown in fig. 6, the middle leg 40 includes: a third thigh 41 and a third shank 42 rotatably connected to the third thigh 41, wherein the third thigh 41 is further rotatably connected to the robot body 10, and the third shank 42 is further rotatably connected to the skateboard 50.
Wherein the middle leg 40 likewise has three degrees of freedom.
The middle leg 40 further includes: a third drive module disposed on the third thigh 41, the third drive module comprising: a third swing motor 43, a third hip joint motor 44 and a third knee joint motor 45,
the third swing motor 43 is used for driving the middle leg 40 to swing laterally, the third hip joint motor 44 is used for driving the third thigh 41 to rotate, and the third knee joint motor 45 is used for driving the third shank 42 to rotate through a third gear belt assembly; a third gear belt assembly is mounted inside the third thigh 41.
The third driving module includes: an output end of the third swing motor 43 is connected with the third hip joint motor 44 through the four-link assembly 405, and the third hip joint motor 44 is further connected with an input end of the third knee joint motor 45. By providing the four-bar linkage assembly 405, the installation width of the middle leg 40 and the robot main body 10 can be increased.
The third gear-belt assembly comprises: a third driving gear 401, a third driven gear 402 and a third conveyor belt 403,
the third driving gear 401 is installed at a first end of the third thigh 41, and the third driving gear 401 is further connected with the third knee joint motor 45;
the third driven gear 402 is mounted at a second end of the third thigh 41, and a third shank 42 is further mounted on the third driven gear 402;
the third belt 403 is engaged with the third driving gear 401 and the third driven gear 402.
Optionally, a third pressing wheel 404 for pressing the third conveyor belt 403 is further installed inside the third thigh 41, and the third pressing wheel 404 is disposed outside the third conveyor belt 403.
Wherein the third swing motor 43 realizes the lateral swing of the middle leg 40, the third hip joint motor 44 drives the third thigh 41 to rotate, and the third knee joint motor 45 is arranged near the robot main body 10 in order to reduce the inertia of the middle leg 40, and the movement of the knee joint realizes the transmission of the driving force or speed by means of the third gear-belt assembly.
The robot adopts the class insect structure, through the setting of class insect structure, can improve the flexibility ratio and the stability of robot to skating control to make the robot have certain pleasing to the eye value.
As shown in fig. 8 to 10, in the linear sliding according to the present embodiment, first, the two side-sliding ice boards 50 assume the eight-out posture, then the center of gravity of the robot body 10 is moved to a position directly above the right-side ice blade 51, the left-side ice board 50 is lifted up to take a forward fast step and to kick ice sideways, and then the center of gravity of the robot body 10 is moved to a position directly above the left-side ice blade 51, and the right-side ice board 50 is lifted up to take a forward fast step and to kick ice sideways.
After starting, the robot starts to perform a rapid acceleration action, as shown in fig. 11 to 13, the ice skating boards 50 on both sides still take an eight-out posture, the center of gravity of the robot main body 10 is moved to a position right above the right side ice blade 51, the left side ice skating board 50 is lifted and then rapidly pedals to the left rear side with assistance of ice skating, then the center of gravity of the robot main body 10 is moved to a position right above the left side ice blade 51, the right side ice skating board 50 is lifted and then rapidly pedals to the right rear side with assistance of ice skating, and the two ice skating boards 50 alternately slide. The whole process is to realize quick pedaling, quick folding and quick cutting.
When the robot slides in a turn, the robot body 10 is lowered to perform a powerful pedaling action, and when the robot turns to the right, the left side-slipping ice plate 50 is lifted, the yaw attitude angle of the ice plate 50 is controlled to rotate to the right by a certain angle (the vertical direction is the positive direction of the yaw attitude angle), and then the robot falls to the ground to pedal ice to the right to slide to the right, and similarly, when the robot turns to the left, the right side-slipping ice plate 50 is lifted, the yaw attitude angle of the ice plate 50 is controlled to rotate to the left by a certain angle, and then the robot falls to the ground to pedal ice to slide to the left to turn to the left.
As shown in fig. 14 to 15, when the user views both legs of the human body by imitating the sliding action of the human gourd, first, when the user starts to slide, the legs are in the outward splayed shape, the center of gravity of the middle leg of the robot is placed behind the ice skate 51, the robot body 10 is tilted forward, the force exerted by both legs is controlled to be applied simultaneously, the ice is kicked outwards by the inner edge of the ice skate 51, the legs (the toe of the legs at this time is outward) slide forwards, when the lateral distance of the tail part of the two ice skates 51 is the same as the hip joint motor distance (corresponding to the shoulder of the human body) of the two legs, the legs are simultaneously buckled inwards, the legs are retracted inwards to be in the inward splayed shape, and the height of the body is controlled to be gradually increased, and the body is restored to the initial posture.
According to the six-legged robot, the front leg 20, the middle leg 40 and the rear leg 30 which are arranged on the same side are connected to the skating board 50 through the rotary connection design, the skating board 50 can realize the required action during skating by driving the driving mechanisms on the three legs, and meanwhile, the skating board 50 can be driven by enough force to realize the loads required by various angle changes as the front leg 20, the middle leg 40 and the rear leg 30 which are arranged on the same side control the skating board 50; in the application, the ice skating board 50 serves as the tail end of the parallel mechanism, enough force can be output to finish the ice pedaling action, the power-assisted robot slides at a high speed and has a certain bearing capacity, the stability of the robot is improved, the posture control and the balance control of the robot main body 10 can be realized by feeding back data such as gyroscope information, a motor rotation angle and a six-dimensional force sensor 70 above the ice skate 51 and the like which are arranged on the robot main body 10, and the reliability of the robot is improved; in the application, due to the unique design of a leg transmission structure, the skating hexapod robot is connected with three legs on the left side and the right side to one skating board 50 through a three-dimensional rotating mechanism 60, the skating board 50 on one side is provided with 3 legs, the translation and the rotation of the skating board 50 in a three-dimensional space can be realized by driving 9 motors, the tail end freedom degree is high, and the actions required by skating and the multi-mode skating actions can be completed by reasonably planning the tracks of the robot main body 10 and the ice skate 51.
In the description of the present application, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are used based on the orientations and positional relationships shown in the drawings only for convenience of description and simplification of operation, and do not indicate or imply that the referred device or element must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.
The above embodiments are merely to illustrate the technical solutions of the present application and are not limitative, and the present application is described in detail with reference to preferred embodiments. It should be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the true spirit and scope of the claims which follow.
Claims (9)
1. A skating hexapod robot structure comprising:
the main body of the robot is provided with a plurality of robots,
the first ends of the front legs are rotatably arranged on the robot main body, and the second ends of the front legs are rotatably arranged on the ice skating board;
the first end of the middle leg is rotatably arranged on the robot main body, and the second end of the middle leg is rotatably arranged on the ice skating board;
the first ends of the rear legs are rotatably arranged on the robot main body, and the second ends of the rear legs are rotatably arranged on the ice skating board;
wherein the front legs, the middle legs and the rear legs which are arranged on the same side are arranged on the same skating board;
and an ice skate blade is also arranged at the bottom of the ice skating board.
2. The skating hexapod robot structure of claim 1, wherein the skateboard is a T-like structure.
3. The skating hexapod robot structure of claim 1, wherein the second ends of the front, middle and rear legs are each mounted on the skateboard via a three-dimensional rotation mechanism.
4. The skating hexapod robot structure of claim 3, wherein the skating board is provided with a first mounting groove for mounting the three-dimensional rotating mechanism.
5. The skating hexapod robot structure of claim 1, further comprising a six-dimensional force sensor mounted on the skateboard.
6. The skating hexapod robot structure of claim 5, wherein the skating board is further provided with a second mounting groove for mounting the six-dimensional force sensor.
7. A skating hexapod robot structure as claimed in any one of claims 1 to 6, wherein the front leg comprises: the robot comprises a robot main body, a first thigh and a first shank, wherein the robot main body is provided with a first ice skate board, the first thigh is rotatably connected with the first thigh, the first shank is rotatably connected with the robot main body, and the first shank is rotatably connected with the ice skating board;
and/or the presence of a gas in the gas,
the front leg further comprises: a first drive module disposed on the first thigh, the first drive module comprising: a first swing motor, a first hip joint motor and a first knee joint motor,
the first swing motor is used for driving the front legs to swing laterally, the first hip joint motor is used for driving the first thighs to rotate, and the first knee joint motor drives the first shanks to rotate through the first gear conveyor belt component; a first gear-and-belt assembly mounted inside the first thigh;
and/or the presence of a gas in the gas,
the first gear-belt assembly comprises: a first driving gear, a first driven gear and a first conveyor belt,
the first driving gear is installed at the first end of the first thigh and is also connected with the first knee joint motor;
the first driven gear is arranged at the second end of the first thigh, and a first shank is further arranged on the first driven gear;
the first conveyor belt is meshed with the first driving gear and the first driven gear;
and/or the presence of a gas in the gas,
and a first pressing wheel used for pressing the first conveyor belt is further mounted in the first thigh, and the first pressing wheel is arranged on the outer side of the first conveyor belt.
8. A skating hexapod robot structure as claimed in any one of claims 1 to 6, wherein the rear legs comprise: the robot comprises a robot main body, a first thigh and a first shank, wherein the robot main body is provided with a first robot main body, the first thigh is rotatably connected with the robot main body, and the first shank is rotatably connected with a skating board;
and/or the presence of a gas in the gas,
the rear leg further comprises: a second drive module disposed on the second thigh, the second drive module comprising: a second swing motor, a second hip joint motor and a second knee joint motor,
the second swing motor is used for driving the rear leg to swing in the lateral direction, the second hip joint motor is used for driving the second thigh to rotate, and the second knee joint motor drives the second shank to rotate through the second gear conveyor belt component; a second gear belt assembly is mounted inside the second thigh.
And/or the presence of a gas in the gas,
the second gear belt assembly includes: a second driving gear, a second driven gear, and a second conveyor belt,
the second driving gear is installed at the first end of the second thigh and is also connected with the second knee joint motor;
the second driven gear is arranged at the second end of the second thigh, and a second shank is also arranged on the second driven gear;
the second conveyor belt is meshed with the second driving gear and the second driven gear;
and/or the presence of a gas in the gas,
and a second pressing wheel used for pressing the second conveyor belt is further mounted in the second thigh, and the second pressing wheel is arranged on the outer side of the second conveyor belt.
9. A skating hexapod robot structure as claimed in any one of claims 1 to 6, wherein the middle leg comprises: the third thigh is further rotatably connected with the robot main body, and the third shank is further rotatably connected with the skating board;
and/or the presence of a gas in the gas,
the middle leg further comprises: a third drive module disposed on the third thigh, the third drive module comprising: a third swing motor, a third hip joint motor and a third knee joint motor,
the third swing motor is used for driving the middle leg to swing laterally, the third hip joint motor is used for driving the third thigh to rotate, and the third knee joint motor drives the third shank to rotate through a third gear conveyor belt component; a third gear belt assembly is mounted inside the third thigh;
and/or the presence of a gas in the gas,
the third driving module includes: the output end of the third swing motor is connected with the third hip joint motor through the four-link assembly, and the third hip joint motor is also connected with the input end of the third knee joint motor;
and/or the presence of a gas in the gas,
the third gear-belt assembly comprises: a third driving gear, a third driven gear, and a third belt,
the third driving gear is arranged at the first end of the third thigh and is also connected with the third knee joint motor;
the third driven gear is arranged at the second end of the third thigh, and a third shank is also arranged on the third driven gear;
the third conveyor belt is meshed with the third driving gear and the third driven gear;
and/or the presence of a gas in the gas,
and a third pressing wheel used for pressing the third conveyor belt is further mounted in the third thigh, and the third pressing wheel is arranged on the outer side of the third conveyor belt.
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| CN202210241855.8A CN114590338B (en) | 2022-03-11 | 2022-03-11 | Skating hexapod robot structure |
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| CN202210241855.8A CN114590338B (en) | 2022-03-11 | 2022-03-11 | Skating hexapod robot structure |
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| CN114590338B CN114590338B (en) | 2023-05-30 |
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