CN204713234U - Restructural multi-foot robot - Google Patents
Restructural multi-foot robot Download PDFInfo
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- CN204713234U CN204713234U CN201520217927.0U CN201520217927U CN204713234U CN 204713234 U CN204713234 U CN 204713234U CN 201520217927 U CN201520217927 U CN 201520217927U CN 204713234 U CN204713234 U CN 204713234U
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Abstract
The utility model relates to a kind of restructural multi-foot robot, and it is made up of leg unit and connecting panel, and leg unit has multiple, is connected, realizes multi-form multi-foot robot between any two leg unit by connecting panel.The leg unit of restructural multi-foot robot drives both sides leg bar to realize alternately walking motion by single motor.During the walking of restructural multi-foot robot, any time all has multiple leg bar to support ground, ensure that robot stabilization.By controlling the rotating speed of different leg unit motor and turning to, realize the advance of robot, retreat and turn to.Structure of the present invention and control simply, have stronger stability of motion and the comformability of varying environment, in fields such as military affairs, exploration, amusements, have very strong practical value.
Description
Technical field
The utility model relates to a kind of restructural multi-foot robot.
Background technology
Robot ambulation system directly affects the field of application of robot.At present, in the kinematic mechanism of mobile robot, general employing is wheeled, crawler type and Zu Shi mechanism, and compared with wheeled robot or caterpillar type robot, multi-foot robot has higher manoevreability and to the good comformability of complex road surface.Current multi-foot robot, monopodia structure major part adopts multiple-degree-of-freedom mechanism form, advance, the action such as retrogressing and turning of monopodia is controlled by the motion of the multiple connection place of driver train (joint), ensureing accurately to control on the basis of monopodia motion, need to coordinate the alternating movement between polypody, cause control difficulty large and complex structure, make the stability of existing multi-foot robot not enough.On the other hand, the multi-foot robot of particular form cannot adapt to the walking requirement of different application environment.
Summary of the invention
The purpose of this utility model is to overcome above-mentioned shortcoming, provides a kind of restructural multi-foot robot, it solves the structure of multi-foot robot and the complexity of control, the stability in robot ambulation process, and to problems such as the comformabilitys of different application environment.The purpose of this utility model is achieved in that restructural multi-foot robot is made up of leg unit and connecting panel.Leg unit has multiple, and it is made up of base plate, transmission bracket, electric machine support, motor, coupler, the first gear, the second gear, the 3rd gear, crank, rocking bar, connecting rod, leg bar, slide block, guide rod and guide bar support.Dynamic support, electric machine support is separately fixed on base plate, motor is fixed on electric machine support, motor is connected with the first gear by coupler, first gear, second gear, 3rd gear is arranged in transmission bracket respectively, and the first gear and the second gears meshing, second gear and the 3rd gears meshing, 3rd gear both sides are fixed with one end of crank respectively, and the crank of both sides is 180 degree of phase angles installations, the other end of crank is connected with connecting rod one end, rocking bar one end is connected with transmission bracket, the rocking bar other end is connected with connecting rod mid point, leg bar one end is connected with the connecting rod other end, the leg bar other end is through the slotted eye contact perpendicular to the ground on slide block and base plate, slide block is arranged on guide rod, and direction of slip is parallel with seating plane, guide rod two ends and guide bar support are fixed, support is fixed on base, crank simultaneously, rocking bar, connecting rod, guide rod, slide block is spatially in being arranged in parallel, avoid mutual motion artifacts.The leg unit of restructural multi-foot robot is made up of connecting rod mechanism, and structure is simple and stability is strong, and the various combination form of multiple leg unit is to adapt to different application environment, strong adaptability.
Accompanying drawing explanation
Accompanying drawing 1 is the structural representation of the utility model restructural multi-foot robot.
Accompanying drawing 2 is structural representations of the utility model restructural multi-foot robot leg unit.
Accompanying drawing 3 is birds-eye vieies of the utility model restructural multi-foot robot leg unit.
Accompanying drawing 4 is mechanism kinematic schematic diagrams of the utility model restructural multi-foot robot leg unit.
Accompanying drawing 5 is the schematic diagrams of the sufficient walking robot of rectangle eight that the reconstruct of the utility model restructural multi-foot robot is formed.
Accompanying drawing 6 is the schematic diagrams of the sufficient walking robot of rhombus eight that the reconstruct of the utility model restructural multi-foot robot is formed.
Description of symbols in figure: 1-leg unit, 2-connecting panel, 1-1-base plate, 1-2-the first gear, 1-3-transmission bracket, 1-4-coupler, 1-5-electric machine support, 1-6-motor, 1-7-the second gear, 1-8-the 3rd gear, 1-9-crank, 1-10-rocking bar, 1-11-connecting rod, 1-12-guide rod, 1-13-slide block, 1-14-guide bar support, 1-15-leg bar.
Detailed description of the invention
1 to accompanying drawing 6 further illustrates the utility model by reference to the accompanying drawings.
Restructural multi-foot robot shown in accompanying drawing 1 by: leg unit 1 and connecting panel 2 are formed.Leg unit 1 has multiple, is connected, realizes multi-form multi-foot robot between any two leg unit by connecting panel 2.The unit of leg shown in Fig. 21 it comprise: base plate 1-1, the first gear 1-2, transmission bracket 1-3, coupler 1-4, electric machine support 1-5, motor 1-6, the second gear 1-7, the 3rd gear 1-8, crank 1-9, rocking bar 1-10, connecting rod 1-11, guide rod 1-12, slide block 1-13, guide bar support 1-14 and leg bar 1-15.Dynamic support 1-3, electric machine support 1-5 is separately fixed on base plate 1-1, motor 1-6 is fixed on electric machine support 1-5, motor 1-6 is connected with the first gear 1-2 by coupler 1-4, first gear 1-2, second gear 1-7, 3rd gear 1-8 is arranged in transmission bracket 1-3 respectively, and the first gear 1-2 engages with the second gear 1-7, second gear 1-7 engages with the 3rd gear 1-8, 3rd gear 1-8 both sides are fixed with one end of crank 1-9 respectively, and the crank 1-9 of both sides is 180 degree of phase angles installations, the other end of crank 1-9 is connected with connecting rod 1-11 one end, rocking bar 1-10 one end is connected with transmission bracket 1-3, the rocking bar 1-10 other end is connected with connecting rod 1-11 mid point, leg bar 1-15 one end is connected with the connecting rod 1-11 other end, the leg bar 1-15 other end is through the slotted eye contact perpendicular to the ground on slide block 1-13 and base plate 1-1, slide block 1-13 is arranged on guide rod 1-12, and direction of slip is parallel with base 1-1 face, guide rod 1-12 two ends and guide bar support 1-14 fix, support 1-14 is fixed on base 1-1.Accompanying drawing 3 is the birds-eye view of leg unit 1, and described crank 1-9, rocking bar 1-10, connecting rod 1-11, guide rod 1-12, slide block 1-13, spatially in being arranged in parallel, avoid mutual motion artifacts.Accompanying drawing 4 is the mechanism kinematic schematic diagram of leg unit 1, and described transmission bracket 1-3, crank 1-9, rocking bar 1-10, connecting rod 1-11, guide rod 1-12, slide block 1-13 and leg bar 1-15 form gemel six-bar mechanism.The length of described connecting rod 1-11 is the twice of rocking bar 1-10, the rotation of crank 1-9 realize the leg bar 1-15 other end formed in plane of movement below near linear, above be the path of motion of curve, realize the walking motion of robot.Multiple leg unit 1 is connected by connecting panel 2, realizes reconstituting of multi-form multi-foot robot, the attached schematic diagram that Figure 5 shows that the sufficient walking robot of rectangle eight that reconstruct is formed, the attached schematic diagram that Figure 6 shows that the sufficient walking robot of rhombus eight that reconstruct is formed.
Principle of work: according to applied environment requirement, multiple leg unit 1 is by the connection of connecting panel 2, form the multi-foot robot of desired form, in device people walking, motor 1-6 in leg unit 1 rotates through the rotation that coupler 1-4 drives the first gear 1-2, first gear 1-2 and the second gear 1-7 engaged transmission, second gear 1-7 and the 3rd gear 1-8 engaged transmission also drive crank 1-9 to rotate, crank 1-9 rotates and realizes the reciprocally swinging of rocking bar 1-10 and the plane motion of connecting rod 1-11, connecting rod 1-11 is with movable slider 1-13 to slide on guide rod 1-12 by leg bar 1-15, thus realize leg bar 1-15 walking motion, because two crank 1-9 in described leg unit 1 are that 180 degree of phase angles are installed, achieve the alternately walking motion of two leg bar 1-15, and have a leg bar 1-15 to support in guarantee any time leg unit 1.In the walking of restructural multi-foot robot, by to adjust in different leg unit 1 motor 1-6 rotating speed and turn to, achieve the advance of restructural multi-foot robot, retrogressing and handling maneuver, and guarantee any time restructural multi-foot robot there is multiple leg bar 1-15 to support.
Claims (2)
1. a restructural multi-foot robot, it is made up of leg unit (1) and connecting panel (2), it is characterized in that: leg unit (1) has multiple, is connected, realizes multi-form multi-foot robot between any two leg unit by connecting panel (2).
2. restructural multi-foot robot according to claim 1, it is characterized in that: leg unit (1) it comprise base plate (1-1), first gear (1-2), transmission bracket (1-3), coupler (1-4), electric machine support (1-5), motor (1-6), second gear (1-7), 3rd gear (1-8), crank (1-9), rocking bar (1-10), connecting rod (1-11), guide rod (1-12), slide block (1-13), guide bar support (1-14) and leg bar (1-15), dynamic support (1-3), electric machine support (1-5) is separately fixed on base plate (1-1), motor (1-6) is fixed on electric machine support (1-5), motor (1-6) is connected with the first gear (1-2) by coupler (1-4), first gear (1-2), second gear (1-7), 3rd gear (1-8) is arranged in transmission bracket (1-3) respectively, and the first gear (1-2) engages with the second gear (1-7), second gear (1-7) engages with the 3rd gear (1-8), 3rd gear (1-8) both sides are fixed with one end of crank (1-9) respectively, and the crank of both sides (1-9) is installed in 180 degree of phase angles, the other end of crank (1-9) is connected with connecting rod (1-11) one end, rocking bar (1-10) one end is connected with transmission bracket (1-3), rocking bar (1-10) other end is connected with connecting rod (1-11) mid point, leg bar (1-15) one end is connected with connecting rod (1-11) other end, leg bar (1-15) other end is through the slotted eye contact perpendicular to the ground on slide block (1-13) and base plate (1-1), slide block (1-13) is arranged on guide rod (1-12), and direction of slip is parallel with base (1-1) face, guide rod (1-12) two ends and guide bar support (1-14) are fixed, support (1-14) is fixed on base (1-1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520217927.0U CN204713234U (en) | 2015-04-13 | 2015-04-13 | Restructural multi-foot robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520217927.0U CN204713234U (en) | 2015-04-13 | 2015-04-13 | Restructural multi-foot robot |
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| Publication Number | Publication Date |
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| CN204713234U true CN204713234U (en) | 2015-10-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520217927.0U Expired - Fee Related CN204713234U (en) | 2015-04-13 | 2015-04-13 | Restructural multi-foot robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105171092A (en) * | 2015-10-27 | 2015-12-23 | 北华航天工业学院 | Novel variable input reorganizable ox-head planer main motion mechanism |
| CN107963145A (en) * | 2017-12-05 | 2018-04-27 | 长沙展朔轩兴信息科技有限公司 | Restructural multi-foot robot |
| CN109606499A (en) * | 2018-10-31 | 2019-04-12 | 南京航空航天大学 | Miniature odex |
| CN109649524A (en) * | 2018-12-11 | 2019-04-19 | 江苏泓睿德智能科技有限公司 | A kind of LED production line automatic transporting device |
| CN110200538A (en) * | 2019-07-18 | 2019-09-06 | 佳木斯大学 | A kind of vacuum adsorption type obstacle detouring glass cleaning machine people and its control method |
-
2015
- 2015-04-13 CN CN201520217927.0U patent/CN204713234U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105171092A (en) * | 2015-10-27 | 2015-12-23 | 北华航天工业学院 | Novel variable input reorganizable ox-head planer main motion mechanism |
| CN107963145A (en) * | 2017-12-05 | 2018-04-27 | 长沙展朔轩兴信息科技有限公司 | Restructural multi-foot robot |
| CN109606499A (en) * | 2018-10-31 | 2019-04-12 | 南京航空航天大学 | Miniature odex |
| CN109649524A (en) * | 2018-12-11 | 2019-04-19 | 江苏泓睿德智能科技有限公司 | A kind of LED production line automatic transporting device |
| CN110200538A (en) * | 2019-07-18 | 2019-09-06 | 佳木斯大学 | A kind of vacuum adsorption type obstacle detouring glass cleaning machine people and its control method |
| CN110200538B (en) * | 2019-07-18 | 2023-11-17 | 佳木斯大学 | Vacuum adsorption type obstacle surmounting glass cleaning robot and control method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151021 Termination date: 20160413 |