CN205469363U - Six -foot walking robot - Google Patents
Six -foot walking robot Download PDFInfo
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- CN205469363U CN205469363U CN201620041812.5U CN201620041812U CN205469363U CN 205469363 U CN205469363 U CN 205469363U CN 201620041812 U CN201620041812 U CN 201620041812U CN 205469363 U CN205469363 U CN 205469363U
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Abstract
Six -foot walking robot, this robot include the sufficient structure of fuselage and leg, and the fuselage is the major structure of robot, and the plane of this major structure is the hexagon, totally six groups on the sufficient structure of leg, and this six groups structure sets up separately on six angles on the hexagonal fuselage. The sufficient structure of leg comprises tertiary joint, and this third grade joint includes the horizontal rotation joint of the first order, the vertical rotation joint in the second level, the vertical rotation joint of the third level, this six -legged robot uses the hexapoda insect as the original shape manufacturing and designing. From the angle of bionics, the traveling device of insect is the topography that can adapt to the various complicacies on the earth, so six -legged robot also is the very walking structure of ideal. Six -legged robot can rotate in answering the satisfaction level face to the realization is walked forward, the pivot turn function, can rotate in the vertical face to realize the function of lifting up and falling down of shank, the foot can be at vertical rotation in surface to the angle that adjustment foot falls to the ground makes the major structure more stable.
Description
Technical field
This utility model is a kind of Hexapod Robot, belongs to Robot Design manufacturing technology field.
Background technology
Along with the development of science and technology, stepping up of automaticity, robot is more and more wider
Be applied to generally scientific research, detect, produce, the every field such as rescue.Although, robot
Of a great variety, Various Functions, but for its walking manner, mainly have three kinds: wheeled, shoe
Belt and foot formula.The each have their own feature of these three walking manner.
Wheeled and crawler type is most commonly seen walking manner, and it is simple, mobile fast that it has control
Speed advantage smoothly.But the obstacle climbing ability of legged type robot to be significantly larger than the above two.Meanwhile,
For various complicated topography and geomorphologies, legged type robot also has higher adaptation ability.
Walking robot is to utilize bionics principle, imitates what the biology in various nature was walked
Gait, realizes a kind of robot self moved.It experienced by the development of a century, obtains
Significant progress.Its evolution mainly experienced by the three below stage:
First stage: with the robot of mechanically and hydraulically control realization motion；
Second stage: the robot controlled with electronic computer technology；
Phase III: multi-functional and autonomy requirement makes robotics enter new sending out
The exhibition stage.
So-called Multifeet walking robot, generally refers to the robot of more than four-footed and four-footed, such as
Quadruped robot, Hexapod Robot, eight biped robots etc..
Summary of the invention
The purpose of this utility model is to propose kind of a bionical Hexapod Robot, is with Hexapoda elder brother
Worm is that original shape manufactures and designs.From the point of view of bionic angle, the walking manner of insecticide is
Enough adapt to the landform of tellurian various complexity, so, Hexapod Robot be also one very
Preferably walking structure.Described Hexapod Robot should meet following three partial functions:
The first, can rotate in horizontal plane, to realize walking, pivot turn function forward；
The second, can rotate in vertical plane, to realize the function lifted and fall of leg；
3rd, foot can be at vertical rotation in surface, to adjust the angle that foot lands, makes main
Body structure is more stable.
For achieving the above object, the technical solution adopted in the utility model is Hexapod Walking Robot
People, this robot includes fuselage 1 and lower limb foot structure 2, and fuselage 1 is the agent structure of robot,
The plane of this agent structure is hexagon；Totally six groups of lower limb foot structure 2, these six groups of structures set up separately
On 1 six angles of hexagonal fuselage.
Lower limb foot structure 2 is made up of three grades of joints, and these three grades of joints include that the first order horizontally rotates pass
Joint 3, the vertical cradle head in the second level 4, the vertical cradle head of the third level 5；Wherein, first
Level horizontally rotates the attachment structure that joint 3 is lower limb foot structure and fuselage；The second level vertically rotates pass
Joint 4 is arranged on the first order and horizontally rotates between joint 3 and the vertical cradle head of the third level 5, the
Two grades of vertical cradle heads 4 are the transition structure connected；The vertical cradle head of the third level 5 is lower limb
The adjustment structure of foot.
By H type between the vertical cradle head in the second level 4 and the vertical cradle head of the third level 5
Bar 6 is connected.
The position of lower limb foot structure 2 is adjusted by three groups of steering wheels 7, and the first order horizontally rotates on joint 3
Steering wheel 7 be level(l)ing mechanism.
The vertical cradle head in the second level 4 is perpendicular with the steering wheel 7 on the vertical cradle head of the third level 5
Straight governor motion.
Being equipped with joint frame 8 on three grades of joints of lower limb foot structure 2, steering wheel 7 is arranged on joint frame
On 8；The first order horizontally rotates the vertical side that the steering wheel 7 on joint 3 is arranged on joint frame 8
To, steering wheel 7 horizontally rotates and drives the vertical cradle head in the second level 4, the third level vertically to rotate
Joint 5 carries out the position adjustments of horizontal direction；The first order horizontally rotates joint 3 and the second level is erected
Being connected behind 90 ° of angles of two steering wheel 7 mutual dislocation on straight cradle head 4, both form one
Entirety, and without relative motion.
Steering wheel 7 on the vertical cradle head in the second level 4 is arranged on the level side on joint frame 8
To, steering wheel 7 vertically rotates and drives the vertical cradle head of the third level 5 to carry out the position of vertical direction
Put regulation.
Steering wheel 7 on the vertical cradle head of the third level 5 is arranged on the level side on joint frame 8
To, steering wheel 7 vertically rotates and drives foot 9 to carry out the position adjustments of vertical direction.
Described H type bar 6 is connected by two groups of U-shaped bars and forms, and H type bar 6 is this six foots machine
The leg main body of people's lower limb foot structure 2.
The bottom of described foot 9 is horn structure, and foot 9 is the action executing of lower limb foot structure 2
Agent structure.
Each steering wheel 7 in described lower limb foot structure 2 is arranged on fuselage by Single-chip Controlling, single-chip microcomputer
On 1.
The described first order horizontally rotate joint 3, the vertical cradle head in the second level 4, the third level erect
For being articulated and connected between straight cradle head 5.
On described fuselage 1, supersonic range finder is installed.
Six drift angles of described fuselage 1, by cutting and formed six boss, are polished into circle at drift angle
Arc.Having five holes, middle macropore on each boss of fuselage 1 is to install rolling bearing
Dead eye, four apertures on side are to horizontally rotate steering wheel 7 on joint 3 for fixing the first order
Rotating shaft screw bolt hole.
Compared with prior art, this utility model has the advantages that.
1, this utility model employing six foot layouts, rather than four-footed, five foots or eight foot layouts, main
If because six foot layout structures are symmetrical, gait control is more convenient, and quadruped robot relatively,
Six foot layouts have higher stability, and relative eight foot layouts, six foot layouts have again structure
Simply, the advantage that interference is less relatively between each bar leg exercise.Meanwhile, Hexapod Robot
Imitate is the action modes of Hexapoda insecticide.It was verified that the walking manner of six foot insecticides is
It is best able to adapt to tellurian various complicated landform.So, six foot layouts are that one is closed very much
The layout type of reason.
2, between leg and the health of robot, between leg and joint, leg and foot
Between all use reamer bolt or bolt and nut to connect, suitably after dismounting, this robot can fill
In the square box of a 30cm × 30cm × 6cm.Meanwhile, joint is realized by steering wheel
Rotating, mutually coordinated between each steering wheel, the shape of robot can be flat from one
Hexagram be gradually transitions an elongated cylinder.This allows for this robot and is provided with
Easy accessibility, it is easy to carry, is easy to deform the plurality of advantages such as camouflage.
3, this robot also has certain intelligent feature.At the body part of robot,
Installed supersonic range finder additional so that it is can in certain distance, find preceding object thing or
To self close suspicious mobile target, then by single-chip microcomputer, automatically start corresponding
Leg control program, it is achieved turning avoiding barrier or original place " drop to the ground " hide self, prevent by
The function that suspicious object finds.
3, after this bionical Hexapod Robot installs mechanical hand additional, the inside of some machineries can be entered
Narrow space, keeps in repair this machinery, maintains；Militarily can also perform the removal of mines,
Explosive task, it is to avoid personnel and the close contact of explosive, makes the dangerous big of this generic task
Big reduction.After installing photographic head or other detecting devices additional, some narrow and small holes can be entered, enter
The operations such as row archaeological excavation, mineral detection.It can also be utilized to be good at deformation camouflage, adapt to respectively
Plant the feature of landform, carry out the activities such as military surveillance.So, the range of application of this patent is also
Quite varied.
4, the leg of this Hexapod Robot and health, each joint, leg and the foot of leg
Between all use threaded, there is the feature of easy accessibility.
Meanwhile, by the reasonable rotation of each joint steering wheel, the height of robot is minimum is down to
6cm, makes overall in star, the highest rises to 30cm, makes overall in cylinder.If by lower limb
After portion and health are taken apart, this robot can all be contained in an about 30cm × 30cm × 6cm's
In square box.So, it also has portable advantage.
Additionally, this Hexapod Robot also has certain intelligent feature.It has installed ultrasound additional
Away from device so that it is can independently find preceding object thing, and automatically start and control program accordingly,
Make it turn and avoid this obstacle.
Accompanying drawing explanation
Fig. 1 is Hexapod Robot perspective view of the present utility model.
Fig. 2 is Hexapod Robot planar structure schematic diagram of the present utility model.
Fig. 3 is lower limb foot structural representation of the present utility model.
Fig. 4 is joint of the present utility model frame scheme of installation.
Fig. 5 is the connection diagram on U-shaped part.
Fig. 6 is the schematic diagram on H type bar.
Fig. 7 is the structure chart of fuselage.
Fig. 8 is the structural representation of joint frame.
In figure: 1, fuselage, 2, lower limb foot structure, 3, the first order horizontally rotate joint, 4,
The vertical cradle head in the second level, 5, the vertical cradle head of the third level, 6, H type bar, 7, rudder
Machine, 8, joint frame, 9, foot.
Detailed description of the invention
Below in conjunction with the accompanying drawings and detailed description of the invention, Hexapod Robot of the present utility model is done into
One step describes in detail.
As shown in figures 1-8, Six-foot walking robot, this robot includes fuselage 1 and lower limb foot knot
Structure 2, fuselage 1 is the agent structure of robot, and the plane of this agent structure is hexagon；Lower limb
Totally six groups of structure 2 of foot, these six groups of structures set up separately on 1 six angles of hexagonal fuselage.
Lower limb foot structure 2 is made up of three grades of joints, and these three grades of joints include that the first order horizontally rotates pass
Joint 3, the vertical cradle head in the second level 4, the vertical cradle head of the third level 5；Wherein, first
Level horizontally rotates the attachment structure that joint 3 is lower limb foot structure and fuselage；The second level vertically rotates pass
Joint 4 is arranged on the first order and horizontally rotates between joint 3 and the vertical cradle head of the third level 5, the
Two grades of vertical cradle heads 4 are the transition structure connected；The vertical cradle head of the third level 5 is lower limb
The adjustment structure of foot.
By H type between the vertical cradle head in the second level 4 and the vertical cradle head of the third level 5
Bar 6 is connected.
The position of lower limb foot structure 2 is adjusted by three groups of steering wheels 7, and the first order horizontally rotates on joint 3
Steering wheel 7 be level(l)ing mechanism.
The vertical cradle head in the second level 4 is perpendicular with the steering wheel 7 on the vertical cradle head of the third level 5
Straight governor motion.
Being equipped with joint frame 8 on three grades of joints of lower limb foot structure 2, steering wheel 7 is arranged on joint frame
On 8；The first order horizontally rotates the vertical side that the steering wheel 7 on joint 3 is arranged on joint frame 8
To, steering wheel 7 horizontally rotates and drives the vertical cradle head in the second level 4, the third level vertically to rotate
Joint 5 carries out the position adjustments of horizontal direction.
Steering wheel 7 on the vertical cradle head in the second level 4 is arranged on the level side on joint frame 8
To, steering wheel 7 vertically rotates and drives the vertical cradle head of the third level 5 to carry out the position of vertical direction
Put regulation.
Steering wheel 7 on the vertical cradle head of the third level 5 is arranged on the level side on joint frame 8
To, steering wheel 7 vertically rotates and drives foot 9 to carry out the position adjustments of vertical direction.
Described H type bar 6 is connected by two groups of U-shaped bars and forms, and H type bar 6 is this six foots machine
The leg main body of people's lower limb foot structure 2.
The bottom of described foot 9 is horn structure, and foot 9 is the action executing of lower limb foot structure 2
Agent structure.
Each steering wheel 7 in described lower limb foot structure 2 is arranged on fuselage by Single-chip Controlling, single-chip microcomputer
On 1.
The described first order horizontally rotate joint 3, the vertical cradle head in the second level 4, the third level erect
For being articulated and connected between straight cradle head 5.
On described fuselage 1, supersonic range finder is installed.
Six drift angles of described fuselage 1, by cutting and formed six boss, are polished into circle at drift angle
Arc.Having five holes, middle macropore on each boss of fuselage 1 is to install rolling bearing
Dead eye, four apertures on side are to horizontally rotate steering wheel 7 on joint 3 for fixing the first order
Rotating shaft screw bolt hole.
Claims (10)
1. Six-foot walking robot, it is characterised in that: this robot includes fuselage (1) and lower limb foot structure (2), and fuselage (1) is the agent structure of robot, and the plane of this agent structure is hexagon；Lower limb foot structure (2) totally six groups, these six groups of structures set up separately on (1) six angle of hexagonal fuselage；
Lower limb foot structure (2) is made up of three grades of joints, and these three grades of joints include that the first order horizontally rotates joint (3), the vertical cradle head in the second level (4), the vertical cradle head of the third level (5)；Wherein, the first order horizontally rotates the attachment structure that joint (3) is lower limb foot structure and fuselage；The vertical cradle head in the second level (4) is arranged on the first order and horizontally rotates between joint (3) and the vertical cradle head of the third level (5), and the vertical cradle head in the second level (4) is the transition structure connected；The vertical cradle head of the third level (5) is the adjustment structure of lower limb foot.
Six-foot walking robot the most according to claim 1, it is characterised in that: it is connected by H type bar (6) between the vertical cradle head in the second level (4) cradle head vertical with the third level (5).
Six-foot walking robot the most according to claim 2, it is characterised in that: described H type bar (6) is connected by two groups of U-shaped bars and forms, and H type bar (6) is the leg main body of this Hexapod Robot lower limb foot structure (2).
Six-foot walking robot the most according to claim 1, it is characterized in that: the position of lower limb foot structure (2) is adjusted by three groups of steering wheels (7), the steering wheel (7) that the first order horizontally rotates on joint (3) is level(l)ing mechanism.
Six-foot walking robot the most according to claim 1, it is characterised in that: the vertical cradle head in the second level (4) is vertical governor motion with the steering wheel (7) on the vertical cradle head of the third level (5).
Six-foot walking robot the most according to claim 1, it is characterised in that: being equipped with joint frame (8) on three grades of joints of lower limb foot structure (2), steering wheel (7) is arranged on joint frame (8)；The first order horizontally rotates the steering wheel (7) on joint (3) and is arranged on the vertical direction on joint frame (8), and steering wheel (7) horizontally rotates and drive the vertical cradle head in the second level (4), the vertical cradle head of the third level (5) to carry out the position adjustments of horizontal direction；The first order is connected after horizontally rotating the 90 ° of angles of two steering wheel (7) mutual dislocation on joint (3) cradle head vertical with the second level (4), and both form a whole, and without relative motion；
Steering wheel (7) on the vertical cradle head in the second level (4) is arranged on the horizontal direction on joint frame (8), and steering wheel (7) vertically rotates and drives the vertical cradle head of the third level (5) to carry out the position adjustments of vertical direction；
Steering wheel (7) on the vertical cradle head of the third level (5) is arranged on the horizontal direction on joint frame (8), and steering wheel (7) vertically rotates and drives foot (9) to carry out the position adjustments of vertical direction.
Six-foot walking robot the most according to claim 6, it is characterised in that: the bottom of foot (9) is horn structure, and foot (9) is the action executing agent structure of lower limb foot structure (2).
Six-foot walking robot the most according to claim 6, it is characterised in that: each steering wheel (7) on described lower limb foot structure (2) is by Single-chip Controlling, and single-chip microcomputer is arranged on fuselage (1).
Six-foot walking robot the most according to claim 1, it is characterised in that: the described first order horizontally rotates between joint (3), the vertical cradle head in the second level (4), the vertical cradle head of the third level (5) for being articulated and connected.
Six-foot walking robot the most according to claim 1, it is characterised in that: described fuselage is provided with supersonic range finder on (1)；
Six drift angles of described fuselage (1), by cutting and formed six boss, are polished into circular arc at drift angle；Having five holes, middle macropore on each boss of fuselage (1) is the dead eye installing rolling bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620041812.5U CN205469363U (en) | 2016-01-15 | 2016-01-15 | Six -foot walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620041812.5U CN205469363U (en) | 2016-01-15 | 2016-01-15 | Six -foot walking robot |
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| CN205469363U true CN205469363U (en) | 2016-08-17 |
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| CN201620041812.5U Active CN205469363U (en) | 2016-01-15 | 2016-01-15 | Six -foot walking robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105691483A (en) * | 2016-01-15 | 2016-06-22 | 北京工业大学 | Hexapod walking robot |
| CN108891501A (en) * | 2018-07-31 | 2018-11-27 | 江西理工大学 | A kind of hexapod robot |
| CN109533074A (en) * | 2018-11-14 | 2019-03-29 | 西北农林科技大学 | A kind of implementation method of hexapod robot and its gait of keeping straight on |
| CN110001814A (en) * | 2019-03-12 | 2019-07-12 | 广东工业大学 | A kind of bionical Multifeet walking robot of small modular |
| CN110481669A (en) * | 2019-08-30 | 2019-11-22 | 南京大学 | A kind of spider-shaped bionic wall climbing robot based on frictional force attachment techniques |
| CN111003124A (en) * | 2019-12-30 | 2020-04-14 | 西南石油大学 | Mechanical leg, hexapod robot and underwater movement method thereof |
| CN112327860A (en) * | 2020-11-16 | 2021-02-05 | 西安应用光学研究所 | Self-adaptive motion control system of amphibious bionic robot |
-
2016
- 2016-01-15 CN CN201620041812.5U patent/CN205469363U/en active Active
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105691483A (en) * | 2016-01-15 | 2016-06-22 | 北京工业大学 | Hexapod walking robot |
| CN108891501A (en) * | 2018-07-31 | 2018-11-27 | 江西理工大学 | A kind of hexapod robot |
| CN108891501B (en) * | 2018-07-31 | 2019-12-31 | 江西理工大学 | Six-foot robot |
| CN109533074A (en) * | 2018-11-14 | 2019-03-29 | 西北农林科技大学 | A kind of implementation method of hexapod robot and its gait of keeping straight on |
| CN110001814A (en) * | 2019-03-12 | 2019-07-12 | 广东工业大学 | A kind of bionical Multifeet walking robot of small modular |
| CN110481669A (en) * | 2019-08-30 | 2019-11-22 | 南京大学 | A kind of spider-shaped bionic wall climbing robot based on frictional force attachment techniques |
| CN111003124A (en) * | 2019-12-30 | 2020-04-14 | 西南石油大学 | Mechanical leg, hexapod robot and underwater movement method thereof |
| CN111003124B (en) * | 2019-12-30 | 2023-09-19 | 西南石油大学 | Mechanical leg, six-foot robot and underwater movement method thereof |
| CN112327860A (en) * | 2020-11-16 | 2021-02-05 | 西安应用光学研究所 | Self-adaptive motion control system of amphibious bionic robot |
| CN112327860B (en) * | 2020-11-16 | 2023-12-12 | 西安应用光学研究所 | Amphibious bionic robot self-adaptive motion control system |
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