CN116620442A - Reversible six-foot walking robot - Google Patents
Reversible six-foot walking robot Download PDFInfo
- Publication number
- CN116620442A CN116620442A CN202310429778.3A CN202310429778A CN116620442A CN 116620442 A CN116620442 A CN 116620442A CN 202310429778 A CN202310429778 A CN 202310429778A CN 116620442 A CN116620442 A CN 116620442A
- Authority
- CN
- China
- Prior art keywords
- support frame
- robot
- steering engine
- bolts
- cross beam
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000002441 reversible effect Effects 0.000 title claims abstract description 23
- 241000238631 Hexapoda Species 0.000 claims description 14
- 230000001681 protective effect Effects 0.000 claims description 6
- 230000007306 turnover Effects 0.000 claims description 4
- 238000012876 topography Methods 0.000 abstract description 3
- 210000003414 extremity Anatomy 0.000 description 26
- 230000009193 crawling Effects 0.000 description 10
- 230000036544 posture Effects 0.000 description 9
- 239000011664 nicotinic acid Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 210000001364 upper extremity Anatomy 0.000 description 2
- 241000239290 Araneae Species 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a reversible six-foot walking robot, which comprises a body structure and six robot legs; the frame structure is formed by combining an inner support frame, a front module window, a rear module window, a leg support frame, an upper protection shell and a lower protection shell through bolts; an integrated circuit board is arranged on the inner bottom surface of the supporting frame; each robot leg is formed by mutually matching and hinging a first mechanical joint group, a second mechanical joint group, a third mechanical joint group, a fourth mechanical joint group and a mechanical foot; the left side and the right side of the machine body are symmetrically and uniformly provided with 3 robot legs respectively, and each robot leg is of the same structure modular design. Through six reversible robot legs with 4 degrees of freedom of this setting for can continue to creep through six legs of upset after the robot upset, better solution the problem that its robot leg can't overturn and continue to creep after current bionical six foot walking robot upset, optimized topography adaptability.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a reversible six-foot walking robot.
Background
The six-foot walking robot is also called a spider robot, uses the principle of bionics to reference the principle of triangle gait crawling of six-foot insects, has good balance feeling, can freely advance and retreat, is simple to control, can quickly and stably move, has the capability of crossing obstacles, and can adapt to various complex topography and topography.
However, the robot leg of the existing bionic six-foot walking robot cannot be turned up and down after being turned over, and the robot leg after being turned over does not have the ability of continuously crawling, so that the robot leg is difficult to be well adapted to various terrains.
Disclosure of Invention
Aiming at the technical defects, the invention aims to provide a reversible six-foot walking robot, which better solves the problem that the robot legs of the traditional bionic six-foot walking robot cannot be turned over to continue crawling after being turned over.
In order to solve the technical problems, the invention adopts the following technical scheme:
the invention provides a reversible hexapod walking robot, which comprises a body structure and six robot legs which are uniformly distributed on the left side and the right side of the body structure and are symmetrically distributed in a radial shape; the machine body structure is formed by combining an upper left cross beam, a lower left cross beam, an upper right cross beam, a lower right cross beam, a front upper support frame, a rear upper support frame, a front lower support frame, a rear lower support frame, a front X-shaped support frame, a rear X-shaped support frame, a front module window, a rear module window, a leg support frame, an upper protection shell and a lower protection shell through bolts; the left end and the right end of the front upper support frame are respectively and correspondingly connected with the front inner side of the upper left cross beam and the front inner side of the upper right cross beam through bolts, and the left end and the right end of the rear upper support frame are respectively and correspondingly connected with the rear inner side of the upper left cross beam and the rear inner side of the upper right cross beam through bolts to form an upper support frame; the left end and the right end of the front lower support frame are respectively and correspondingly connected with the front inner side of the lower left cross beam and the front inner side of the lower right cross beam through bolts, and the left end and the right end of the rear lower support frame are respectively and correspondingly connected with the rear inner side of the lower left cross beam and the rear inner side of the lower right cross beam through bolts to form the lower support frame; the top of the front X-shaped support frame is connected with the bottom surface of the front upper support frame through bolts, and the bottom of the front X-shaped support frame is connected with the top surface of the front lower support frame through bolts; the top of the rear X-shaped support frame is connected with the bottom surface of the rear upper support frame through bolts, and the bottom of the rear X-shaped support frame is connected with the bottom surface of the rear lower support frame through bolts, so that the rear X-shaped support frame is combined into an inner support frame;
the upper, lower, left and right four corners of the front module window are respectively and correspondingly connected with the upper, lower, left and right four corners of the front side of the inner support frame through bolts, and the upper, lower, left and right four corners of the rear module window are respectively and correspondingly connected with the upper, lower, left and right four corners of the rear side of the inner support frame through bolts; the left side and the right side of the inner support frame are respectively provided with a leg support frame through bolts, and the leg support frames are respectively a left leg support frame and a right leg support frame; the bottom surfaces of the left side and the right side of the upper protective shell are respectively and correspondingly connected with the top of the left leg support frame and the top of the right leg support frame through bolts; the tops of the left side and the right side of the lower protective shell are respectively and correspondingly connected with the bottom surface of the left leg support frame and the bottom surface of the right leg support frame through bolts; an integrated circuit board is arranged on the inner bottom surface of the inner support frame and combined to form a machine body;
each robot leg is formed by mutually matching and hinging a first mechanical joint group, a second mechanical joint group, a third mechanical joint group, a fourth mechanical joint group and a mechanical foot; the first mechanical joint group consists of a first steering engine, a first steering engine anchor frame and a first section limb, the bottom end of the first section limb is detachably connected with the first steering engine anchor frame through bolts, the rear end of the first section limb is detachably connected with the first steering engine anchor through bolts, the first steering engine anchor is sleeved on the first steering engine, and the left end and the right end of the first steering engine anchor frame are mutually matched with the left end and the right end of the rear side of the first steering engine anchor through bolts; the second mechanical joint group consists of a second steering engine, a second steering engine anchor and a second section limb, the rear end of the second section limb is detachably connected with the second steering engine anchor through a bolt, the second steering engine anchor is sleeved on the first steering engine, and the second steering engine anchor is hinged with the first section limb; the third mechanical joint group consists of a third steering engine and a third joint limb, the third joint limb is sleeved on the third steering engine, and the third steering engine is hinged with the second joint limb; the fourth mechanical joint group comprises a fourth steering engine and a fourth joint limb, the fourth joint limb is sleeved on the fourth steering engine, and the fourth steering engine is hinged with the third joint limb; the mechanical foot is hinged with the fourth section of limb and is combined to form a robot leg;
the left and right sides of the machine body are symmetrically and evenly provided with 3 robot legs respectively, and the machine body is detachably connected with the leg supporting frame through bolts to form the turnover six-foot walking robot.
Preferably, the upper left cross beam, the lower left cross beam, the upper right cross beam and the lower right cross beam have the same structure and are formed by fastening and connecting 2 short cross beams through bolt connecting pieces.
Preferably, the machine body structure is arranged symmetrically up and down and left and right by adopting a dynamics principle and is used for facilitating the robot to continuously crawl through the robot legs after being turned up and down.
Preferably, each robot leg is of the same modular design, and the robot legs are arranged in four degrees of freedom for facilitating the turnover of the robot legs, so that the robot can continue crawling through the robot legs.
Preferably, the fuselage structure has an attitude sensor thereon; the reversible six-foot walking robot judges that the posture of the robot body is upward in top surface or upward in bottom surface through the posture sensor, and when the posture of the robot body is changed from right-side up to upward in bottom surface or the posture of the robot body is changed from bottom surface up to right-side up, each robot leg is turned until the robot leg is in an initial state.
The invention has the beneficial effects that: according to the reversible hexapod walking robot, the body structure is arranged up and down and left and right symmetrically according to the dynamics principle, six identical reversible robot legs with 4 degrees of freedom are arranged, so that the robot can continue crawling by turning over the six legs instead of the body after being turned up and down, the problem that the robot legs of the conventional bionic hexapod walking robot can not be turned over to continue crawling after being turned over is solved well, and meanwhile the terrain adaptability of the robot is optimized.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a reversible six-foot walking robot according to an embodiment of the present invention;
FIG. 2 is a schematic view of the fuselage structure of FIG. 1;
FIG. 3 is a schematic view of the internal support frame of FIG. 2;
FIG. 4 is a schematic view of a portion of the structure of FIG. 2;
FIG. 5 is a schematic view of the first mechanical joint group of FIG. 1;
FIG. 6 is a schematic diagram of a second mechanical joint set of FIG. 1;
FIG. 7 is a schematic view of a third mechanical joint set of FIG. 1;
FIG. 8 is a schematic view of a fourth mechanical joint set of FIG. 1;
FIG. 9 is a schematic view of the mechanical foot of FIG. 1;
FIG. 10 is a schematic illustration of a first mechanical joint set coupled to a right leg support;
FIG. 11 is a top view of FIG. 1;
FIG. 12 is a front view of FIG. 1;
fig. 13 is a side view of fig. 1.
Reference numerals illustrate:
the robot comprises a body structure 1, a robot leg 2, an upper left cross beam 3, a lower left cross beam 4, an upper right cross beam 5, a lower right cross beam 6, a front upper support frame 7, a rear upper support frame 8, a front lower support frame 9, a rear lower support frame 10, a front X-shaped support frame 11, a rear X-shaped support frame 12, a front module window 13, a rear module window 14, a leg support frame 15, an upper protection shell 16, a lower protection shell 17, a first mechanical joint group 18, a second mechanical joint group 19, a third mechanical joint group 20, a fourth mechanical joint group 21, a mechanical foot 22 and an integrated circuit board 23;
the steering system comprises a first steering engine 181, a first steering engine anchor 182, a first steering engine anchor frame 183 and a first section limb 184;
a second steering engine 191, a second steering engine anchor 192, and a second leg 193;
a third steering engine 201 and a third leg 202;
a fourth steering engine 211 and a fourth leg 212.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Embodiment 1, as shown in fig. 1 to 13, a reversible hexapod walking robot comprises a body structure 1 shown in fig. 1 and six robot legs 2 uniformly distributed on the left side and the right side of the body structure and symmetrically distributed in a radial shape; as shown in fig. 2 and 3, the fuselage structure 1 is an octagonal fuselage formed by combining an upper left cross member 3, a lower left cross member 4, an upper right cross member 5, a lower right cross member 6, a front upper support frame 7, a rear upper support frame 8, a front lower support frame 9, a rear lower support frame 10, a front X-shaped support frame 11, a rear X-shaped support frame 12, a front module window 13, a rear module window 14, a leg support frame 15, an upper protection shell 16, and a lower protection shell 17 through bolting; the left and right ends of the front upper support frame 7 are correspondingly connected with the front inner side of the upper left cross beam 3 and the front inner side of the upper right cross beam 5 through bolts respectively, and the left and right ends of the rear upper support frame 8 are correspondingly connected with the rear inner side of the upper left cross beam 3 and the rear inner side of the upper right cross beam 5 through bolts respectively to form an upper support frame; the left and right ends of the front lower support frame 9 are correspondingly connected with the front inner side of the lower left cross beam 4 and the front inner side of the lower right cross beam 6 through bolts respectively, and the left and right ends of the rear lower support frame 10 are correspondingly connected with the rear inner side of the lower left cross beam 4 and the rear inner side of the lower right cross beam 6 through bolts respectively to form a lower support frame; the top of the front X-shaped support frame 11 is connected with the bottom surface of the front upper support frame 7 through bolts, and the bottom of the front X-shaped support frame 11 is connected with the top surface of the front lower support frame 9 through bolts; the top of the rear X-shaped support frame 12 is connected with the bottom surface of the rear upper support frame 8 through bolts, and the bottom of the rear X-shaped support frame 12 is connected with the bottom surface of the rear lower support frame 10 through bolts, so that an inner support frame is formed;
further, as shown in fig. 2-4, the upper, lower, left and right corners of the front module window 13 are respectively connected with the upper, lower, left and right corners of the front side of the internal support frame by bolts, and the upper, lower, left and right corners of the rear module window 14 are respectively connected with the upper, lower, left and right corners of the rear side of the internal support frame by bolts; the left side and the right side of the inner support frame are respectively provided with a leg support frame 15 through bolts, namely a left leg support frame and a right leg support frame; the bottom surfaces of the left side and the right side of the upper protection shell 16 are respectively connected with the top of the left leg support frame and the top of the right leg support frame through bolts correspondingly; the tops of the left side and the right side of the lower protection shell 17 are respectively connected with the bottom surface of the left leg support frame and the bottom surface of the right leg support frame through bolts correspondingly; the bottom surface of the inner support frame is provided with an integrated circuit board 23 which is combined to form a machine body;
further, as shown in fig. 1 and fig. 5 to 9, each robot leg 2 is formed by mutually matching and hinging a first mechanical joint group 18, a second mechanical joint group 19, a third mechanical joint group 20, a fourth mechanical joint group 21 and a mechanical foot 22; as shown in fig. 5, the first mechanical joint group 18 is composed of a first steering engine 181, a first steering engine anchor 182, a first steering engine anchor frame 183 and a first section limb 184, wherein the bottom end of the first section limb 184 is detachably connected with the first steering engine anchor frame 183 through bolts, the rear end of the first section limb 184 is detachably connected with the first steering engine anchor 182 through bolts, the first steering engine anchor 182 is sleeved on the first steering engine 181, and the left and right ends of the first steering engine anchor frame 183 are mutually matched and detachably connected with the left and right ends of the rear side of the first steering engine anchor 182 through bolts; as shown in fig. 6, the second mechanical joint group 19 is composed of a second steering engine 191, a second steering engine anchor 192 and a second joint limb 193, the rear end of the second joint limb 193 is detachably connected with the second steering engine anchor 192 through a bolt, the second steering engine anchor 192 is sleeved on the first steering engine 191, and the second steering engine anchor 192 is hinged with the first joint limb 184; as shown in fig. 7, the third mechanical joint group 20 is composed of a third steering engine 201 and a third joint limb 202, the third joint limb 202 is sleeved on the third steering engine 201, and the third steering engine 201 is hinged with the second joint limb 193; as shown in fig. 8, the fourth mechanical joint group 21 is composed of a fourth steering engine 211 and a fourth joint limb 212, the fourth joint limb 212 is sleeved on the fourth steering engine 211, and the fourth steering engine 211 is hinged with the third joint limb 202; as shown in fig. 9, the mechanical foot 22 is articulated to a fourth leg 212, which in combination forms a robotic leg;
further, as shown in fig. 11 and 13, 3 robot legs 2 are symmetrically and uniformly arranged on the left and right sides of the machine body, and the first steering engine 181 is detachably connected with the leg support frame 15 through bolts, so as to form the reversible six-foot walking robot. It should be noted that, as shown in fig. 10, the first steering engine 181 has a steering wheel, and the steering wheel has a steering wheel hole thereon; the front part, the middle part, the rear part of left leg support frame and the front part, the middle part and the rear part of right leg support frame are respectively provided with mounting holes matched with steering wheel discs, and the steering wheel discs on the first steering engine 181 penetrate through the mounting holes by using fastening bolts and are mutually matched and connected with the steering wheel disc holes, and the steering wheel discs in the first steering engine 181 are used for connecting the first mechanical joint group 18 with the leg support frame 15 through the steering wheel discs in the first steering engine 181, so that 6 robot legs are mounted on the leg support frame and are respectively left front legs, left side legs, left rear legs, right front legs, right side legs and right rear legs.
Further, in the embodiment, as shown in fig. 3-4, the upper left cross beam 3, the lower left cross beam 4, the upper right cross beam 5 and the lower right cross beam 6 have the same structure, and are formed by fastening and connecting 2 short cross beams through bolt connectors.
Further, as shown in fig. 1 and 11, the machine body structure 1 is arranged in a manner of combining the dynamics principle of up-down symmetry and bilateral symmetry, and is used for facilitating the robot to continuously crawl through the robot legs after being turned up-down.
Further, as shown in fig. 1, each of the robot legs 2 is of a modular design with the same structure, and the robot legs 2 are set to four degrees of freedom for facilitating the turnover of the robot legs, so that the robot continues to crawl through the robot legs.
Further, the body structure 1 is provided with an attitude sensor; the reversible six-foot walking robot judges that the posture of the robot body is upward in top surface or upward in bottom surface through the posture sensor, and when the posture of the robot body is changed from right-side up to upward in bottom surface or the posture of the robot body is changed from bottom surface up to right-side up, each robot leg 2 is turned until the robot leg is in an initial state.
In addition, it should be noted that, according to different postures of the robot body, the robot of the present invention may continue crawling by using different walking algorithms.
The working principle of the device of the embodiment is as follows: the control of the hexapod robot in the embodiment at the PC end can be realized only through Bluetooth; forward and reverse crawling is realized through an STM32H743IIT6 microprocessor and an attitude sensor;
in addition, in other embodiments, since the hexapod robot is modular, other functions may be added as needed, such as: the image function can be realized by installing cameras on front and back module windows, the distance measuring function can be realized by installing distance measuring instruments on the front and back module windows, the sound output function can be realized by installing loudspeakers in a machine body, and the like.
In the embodiment of the invention, the reversible hexapod walking robot is installed by taking the six robot legs in the embodiment as the same modularized design, and the first mechanical joints of the six robot legs are firstly required to be respectively installed on the left leg support frame and the right leg support frame during installation, and the specific installation steps are as follows:
(1) Firstly, respectively mounting the mounted robot legs on leg support frames, wherein 3 robot legs are respectively mounted on a left leg support frame and a right leg support frame;
(2) After the internal support frame is installed, the left leg support frame and the right leg support frame provided with the robot legs are respectively and correspondingly installed on the left side and the right side of the installed internal support frame in a mirror symmetry mode; and then sequentially installing the upper protective shell on the top of the inner support frame, installing the lower protective shell on the bottom surface of the inner support frame, installing the front module window on the front side of the inner support frame and installing the rear module window on the rear side of the inner support frame.
According to the reversible hexapod walking robot, the body structure is arranged up and down and left and right symmetrically according to the dynamics principle, six identical reversible robot legs with 4 degrees of freedom are arranged, so that the robot can continue crawling by turning over the six legs instead of the body after being turned up and down, the problem that the robot legs of the conventional bionic hexapod walking robot can not be turned over to continue crawling after being turned over is solved well, and meanwhile the terrain adaptability of the robot is optimized.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (5)
1. The utility model provides a six foot walking robots can overturn which characterized in that: the robot comprises a machine body structure and six robot legs which are uniformly distributed on the left side and the right side of the machine body structure and are symmetrically distributed in a radial shape; the machine body structure is formed by combining an upper left cross beam, a lower left cross beam, an upper right cross beam, a lower right cross beam, a front upper support frame, a rear upper support frame, a front lower support frame, a rear lower support frame, a front X-shaped support frame, a rear X-shaped support frame, a front module window, a rear module window, a leg support frame, an upper protection shell and a lower protection shell through bolts; the left end and the right end of the front upper support frame are respectively and correspondingly connected with the front inner side of the upper left cross beam and the front inner side of the upper right cross beam through bolts, and the left end and the right end of the rear upper support frame are respectively and correspondingly connected with the rear inner side of the upper left cross beam and the rear inner side of the upper right cross beam through bolts to form an upper support frame; the left end and the right end of the front lower support frame are respectively and correspondingly connected with the front inner side of the lower left cross beam and the front inner side of the lower right cross beam through bolts, and the left end and the right end of the rear lower support frame are respectively and correspondingly connected with the rear inner side of the lower left cross beam and the rear inner side of the lower right cross beam through bolts to form the lower support frame; the top of the front X-shaped support frame is connected with the bottom surface of the front upper support frame through bolts, and the bottom of the front X-shaped support frame is connected with the top surface of the front lower support frame through bolts; the top of the rear X-shaped support frame is connected with the bottom surface of the rear upper support frame through bolts, and the bottom of the rear X-shaped support frame is connected with the bottom surface of the rear lower support frame through bolts, so that the rear X-shaped support frame is combined into an inner support frame;
the upper, lower, left and right four corners of the front module window are respectively and correspondingly connected with the upper, lower, left and right four corners of the front side of the inner support frame through bolts, and the upper, lower, left and right four corners of the rear module window are respectively and correspondingly connected with the upper, lower, left and right four corners of the rear side of the inner support frame through bolts; the left side and the right side of the inner support frame are respectively provided with a leg support frame through bolts, and the leg support frames are respectively a left leg support frame and a right leg support frame; the bottom surfaces of the left side and the right side of the upper protective shell are respectively and correspondingly connected with the top of the left leg support frame and the top of the right leg support frame through bolts; the tops of the left side and the right side of the lower protective shell are respectively and correspondingly connected with the bottom surface of the left leg support frame and the bottom surface of the right leg support frame through bolts; an integrated circuit board is arranged on the inner bottom surface of the inner support frame and combined to form a machine body;
each robot leg is formed by mutually matching and hinging a first mechanical joint group, a second mechanical joint group, a third mechanical joint group, a fourth mechanical joint group and a mechanical foot; the first mechanical joint group consists of a first steering engine, a first steering engine anchor frame and a first section limb, the bottom end of the first section limb is detachably connected with the first steering engine anchor frame through bolts, the rear end of the first section limb is detachably connected with the first steering engine anchor through bolts, the first steering engine anchor is sleeved on the first steering engine, and the left end and the right end of the first steering engine anchor frame are mutually matched with the left end and the right end of the rear side of the first steering engine anchor through bolts; the second mechanical joint group consists of a second steering engine, a second steering engine anchor and a second section limb, the rear end of the second section limb is detachably connected with the second steering engine anchor through a bolt, the second steering engine anchor is sleeved on the first steering engine, and the second steering engine anchor is hinged with the first section limb; the third mechanical joint group consists of a third steering engine and a third joint limb, the third joint limb is sleeved on the third steering engine, and the third steering engine is hinged with the second joint limb; the fourth mechanical joint group comprises a fourth steering engine and a fourth joint limb, the fourth joint limb is sleeved on the fourth steering engine, and the fourth steering engine is hinged with the third joint limb; the mechanical foot is hinged with the fourth section of limb and is combined to form a robot leg;
the left and right sides of the machine body are symmetrically and evenly provided with 3 robot legs respectively, and the machine body is detachably connected with the leg supporting frame through bolts to form the turnover six-foot walking robot.
2. A reversible hexapod walking robot as claimed in claim 1, wherein: the upper left cross beam, the lower left cross beam, the upper right cross beam and the lower right cross beam have the same structure and are formed by fastening and connecting 2 short cross beams through bolt connecting pieces.
3. A reversible hexapod walking robot as claimed in claim 1, wherein: the machine body structure is symmetrically arranged up and down and left and right by adopting a dynamics principle.
4. A reversible hexapod walking robot as claimed in claim 1, wherein: each robot leg is of the same modular design, and the robot legs are arranged in four degrees of freedom.
5. A reversible hexapod walking robot as claimed in claim 1, wherein: the machine body structure is provided with an attitude sensor; the reversible six-foot walking robot judges that the posture of the robot body is upward in top surface or upward in bottom surface through the posture sensor, and when the posture of the robot body is changed from right-side up to upward in bottom surface or the posture of the robot body is changed from bottom surface up to right-side up, each robot leg is turned until the robot leg is in an initial state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310429778.3A CN116620442A (en) | 2023-04-21 | 2023-04-21 | Reversible six-foot walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310429778.3A CN116620442A (en) | 2023-04-21 | 2023-04-21 | Reversible six-foot walking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116620442A true CN116620442A (en) | 2023-08-22 |
Family
ID=87635504
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310429778.3A Pending CN116620442A (en) | 2023-04-21 | 2023-04-21 | Reversible six-foot walking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116620442A (en) |
-
2023
- 2023-04-21 CN CN202310429778.3A patent/CN116620442A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20040205417A1 (en) | Motion controlling apparatus and method and remote controlling apparatus and method for legged mobile robot | |
| JP2001150370A (en) | Leg-type moving robot and operation control method for the same | |
| JPH09142347A (en) | Rough terrain moving device | |
| US7826925B2 (en) | Legged mobile robot | |
| JP2012157968A (en) | Multiform robot | |
| CN220447999U (en) | Reversible six-foot walking robot | |
| US6981562B2 (en) | Biped locomotion robot | |
| CN109733500B (en) | Reconfigurable hexapod robot device | |
| JP2001138271A (en) | Leg type mobile robot and at-overturn motion control method for robot | |
| CN116620442A (en) | Reversible six-foot walking robot | |
| Bo et al. | Design and configuration of a hexapod walking robot | |
| CN114148429A (en) | Wearable parallel connection structure biped robot capable of assisting in walking | |
| CN206123679U (en) | Humanoid robot is out of shape to high trafficability characteristic | |
| CN209814144U (en) | Novel reconfigurable hexapod robot device | |
| CN113911229B (en) | Hexapod robot suitable for different working environments can become cell | |
| CN110126937A (en) | Bionical quadruped robot and gait control method | |
| Fujii et al. | Climbing up onto steps for limb mechanism robot “asterisk” | |
| CN114313046A (en) | Six-foot wall-climbing robot and gait control method thereof | |
| CN213620022U (en) | Rotatable robot single leg device of foot | |
| JP2001157972A (en) | Leg type moving robot | |
| CN107284548B (en) | Waist structure of parallel hexapod robot | |
| CN207433679U (en) | A kind of six-leg robot | |
| KR102564087B1 (en) | Apparatus of activation of leg of robot | |
| CN110667731B (en) | Leg structure of bionic robot | |
| CN214028907U (en) | Support column bottom plate structure of shoes clothes show robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |