CN205499111U - Six sufficient general legged robot - Google Patents
Six sufficient general legged robot Download PDFInfo
- Publication number
- CN205499111U CN205499111U CN201620340465.6U CN201620340465U CN205499111U CN 205499111 U CN205499111 U CN 205499111U CN 201620340465 U CN201620340465 U CN 201620340465U CN 205499111 U CN205499111 U CN 205499111U
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- foot
- control circuit
- fuselage
- fuselage body
- head
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- Withdrawn - After Issue
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Abstract
The utility model discloses a six sufficient general legged robot, including mechanical structure and control system, mechanical structure includes fuselage structure and robot leg, and the fuselage structure includes head and fuselage body, is equipped with range finding camera device in the head, and range finding camera device includes rotating head and front face, and front face 's inboard is equipped with range finding camera module respectively, and the up end of fuselage body is equipped with carousel, fuselage body internally mounted gear drive, the robot leg includes thigh, shank and foot, and the inside interval of shank is equipped with first, the 2nd servo motor, is equipped with the 3rd servo motor with the thigh junction on the fuselage body, control system includes a plurality of control circuit board, electron compass, force transducer, battery and encoder. The utility model discloses, only need pass through gear drive when the polypody robot turns round and drive 360 degrees rotations of rotating head realization, the fuselage body is unnecessary to rotate, and the rotation is fast nimble, saves time, and is low, with low costs to the environmental requirement.
Description
Technical field
This utility model relates to robot, is specifically related to the six general walking robots of foot.
Background technology
Along with the development of science and technology, the mankind much have the activity of repeatability or potential safety hazard by robot
Substituting, wherein multi-foot robot is because adapting to various complicated landform, has the most in specific applications
Have superiority.But, due to the gait characteristic of polypody, need to rely on the mode remained where one is to turn to,
Making multi-foot robot the longest when turning round, efficiency is low, hence it is evident that (can be direct not as good as wheeled robot
Rotate), and fuselage is difficult to held stationary, causes the biggest difficulty, separately for application such as shooting, mappings
Outer leg can not detect whether foot contacts to earth in the process of walking voluntarily, affects duty, it is impossible in time
Find and maintenance, affect service life.
Therefore, existing multi-foot robot have that cost is high, efficiency length low, time-consuming and be difficult to keep
Problem smoothly.
Utility model content
Technical problem to be solved in the utility model be existing multi-foot robot exist efficiency low, consumption
Duration, life-span be low and the problem of very difficult held stationary.
In order to solve above-mentioned technical problem, this utility model be employed technical scheme comprise that offer a kind of six
The general walking robot of foot, including mechanical construction and control system, described frame for movement includes that fuselage is tied
Structure and multiple robot leg the most symmetrical around described airframe structure,
Described airframe structure includes head and fuselage body, is provided with range finding camera head in described head,
Described range finding camera head includes swivel head and is arranged on the front face of described swivel head front end, described front face
Inner side be respectively equipped with range finding photographing module, the upper surface of described fuselage body is provided with rotating disk, described rotation
Rotary head is sealingly fastened on described rotating disk, and described fuselage body is internally installed the described turntable rotation of driving
Gear drive, drive described rotating disk and described swivel head to carry out 360 degree of rotations；
Any one of robot leg includes thigh, shank and foot, and described thigh is with described fuselage originally
Connected by hip joint between body, be connected by knee joint between described thigh with described shank, described
Be connected by ankle joint between shank with described foot, be interval with inside described shank the first servomotor,
Second servomotor, described first, second servomotor connects described knee joint respectively and described ankle closes
Joint, and drive described shank and described foot to realize 180 degree rotating around described knee joint and described ankle joint
Rotating, described fuselage body is provided with the 3rd servomotor with described thigh junction, the described 3rd watches
Take thigh described in driven by motor and realize 180 degree of rotations around described hip joint；
Described control system includes multiple being respectively used to control described airframe structure and described robot leg moves
The control circuit plate made, also includes electronic compass, force transducer, battery and encoder.
In such scheme, described control circuit plate includes the first control electricity being arranged on described rotating disk
Road plate and be arranged on the second control circuit plate within described fuselage body.
In such scheme, also include infrared lamp module, inside described front face, be provided with front face interior lining panel,
Described range finding photographing module and described infrared lamp module are arranged on described front face interior lining panel.
In such scheme, described drive mechanism includes intermeshing drivewheel and driven pulley, described
Drivewheel by driving motor to drive, described driving motor connect described first control circuit plate, described from
The middle part of driving wheel is provided with rotary shaft, and described rotary shaft passes described rotating disk and described first control circuit plate
And drive it to rotate.
In such scheme, described fuselage body includes fuselage upper cover and the fuselage lower cover mutually fastened,
Middle part within described fuselage body is provided with ring-type fixing plate, and described second control circuit plate is arranged on
The upper surface of described ring-type fixing plate, described first servomotor, the second servomotor and the described 3rd
Servomotor connects described second control circuit plate.
In such scheme, described drivewheel and described driven pulley are arranged on the upper of described ring-type fixing plate
End, described driving motor is arranged on the lower end of described ring-type fixing plate and is coaxially disposed with described drivewheel.
In such scheme, described sufficient ground engaging end is provided with the rubber contact that outside is curved, described rubber
The inner side of glue contact is provided with connection post, and described sufficient inside is provided with location switch, and described location switch is even
Connecing described second control circuit plate, described foot extrudes described rubber contact when touching ground, and promotes
Described connection post contacts with described location switch, excites described location switch to open.
In such scheme, the bottom surface of described location switch is interval with stationary contact block and dynamic contact block, institute
The bottom surface stating contact block is provided with the connection contact of column.
In such scheme, described connection post includes the stigma of the medial surface laminating with described rubber contact
With outwardly directed mast, when described connection post moves under the promotion of described rubber contact, described post
Bar touches described connection contact, excites described location switch to open.
In such scheme, the number of described robot leg is 6.
This utility model, the most symmetrical robot leg can keep the flat of multi-foot robot
Weighing apparatus, safe and reliable, when multi-foot robot needs to turn round in the process of walking, only need to be passed by gear
Motivation structure is rotated head and realizes 360 degree of rotations, and fuselage body need not rotate, and rotates the most quickly,
Time-consuming, low to environmental requirement, low cost, there is the highest practical value.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model；
Fig. 2 is side view of the present utility model；
Fig. 3 is the structural representation after this utility model removes block；
Fig. 4 is the structural representation after Fig. 3 removes front face；
Fig. 5 is the topology view after Fig. 4 removes swivel head；
Fig. 6 is the structural representation in this utility model within robot leg；
Fig. 7 is location switch and the structural representation of rubber contact in this utility model；
Fig. 8 is location switch and the state diagram when contacting connecting post in this utility model.
Detailed description of the invention
Below in conjunction with Figure of description, this utility model is described in detail.
As shown in Figure 1, Figure 2 and Figure 3, this utility model provides a kind of six general walking robots of foot,
Including mechanical construction and control system, frame for movement includes airframe structure 10 and multiple around airframe structure
10 the most symmetrical robot legs 20, in this utility model, it is preferred that robot leg 20
Number be 6, be distributed in symmetrically and evenly around airframe structure 10.
Airframe structure 10 includes head and fuselage body 60, and head includes block 17, is provided with in head
Range finding camera head, range finding camera head and internals thereof are effectively protected in block 17, it is to avoid dust enters
Entering, increase the service life, head is additionally provided with indicating lamp module, and indicating lamp module can send display lamp
Signal, is convenient for people to find the position of robot, it is simple to manipulation, it addition, indicating lamp module can also
Send the light of different colours and brightness, for indicating the different conditions of robot, such as network to connect feelings
The prompting of condition, low electricity or charged state etc., can make various flicker and effect of breathing, it is simple to operation
Personnel grasp working condition, intuitive and convenient.Range finding camera head includes swivel head 11 and is arranged on rotation
The front face 12 of 11 front ends, wherein protruding upward being provided with in the front end of swivel head 11 matches with front face 12
Front face mounting seat 111, front face 12 embed be arranged in front face mounting seat 111, it is ensured that front face 12
Can realize being synchronized with the movement along with the motion of swivel head 11.
Control system includes that multiple being respectively used to controls airframe structure 10 and the control of robot leg 20 action
Circuit board processed, also includes that electronic compass, force transducer, battery and encoder, control circuit plate include
First control circuit plate 14 and second control circuit plate 40.
In conjunction with Fig. 4 and Fig. 5, it is provided with front face interior lining panel 15 inside front face 12, on front face interior lining panel 15
Being respectively equipped with range finding photographing module 151, range finding photographing module 151 can be to the position in front face 12 front
Information and range information effectively detect, and are sent to control system, front face interior lining panel 15 are additionally provided with red
Outer lamp 152, infrared lamp module 152 can make photographic head shoot night vision as infrared light supply at dark
Image, additionally it is possible to launch modulation infrared signal, for the various household electrical appliance of remote control etc..
The upper surface of fuselage body 60 is provided with rotating disk 13, and rotating disk 13 is provided with first control circuit plate
14, swivel head 11 is sealingly fastened on rotating disk 13, and fuselage body 60 is internally installed driving rotating disk 13
The gear drive rotated, gear drive can drive rotating disk 13 and swivel head 11 to carry out 360
Degree rotates, and in the case of robot leg 20 is motionless, swivel head 11 can directly rotate, Er Qieke
With two-way unlimited rotary, degree of flexibility is high.Gear drive includes intermeshing drivewheel 30 He
Driven pulley 31, drivewheel 30, by driving motor to drive, drives motor to connect first control circuit plate 14,
It is turned on or off by first control circuit plate 14 controller.The middle part of driven pulley 31 is provided with rotary shaft
16, rotary shaft 16 passes rotating disk 13 and first control circuit plate 14 and drives it to rotate.
Preferably, fuselage body 60 includes fuselage upper cover 61 and fuselage lower cover 62, the machine mutually fastened
Middle part within body body 60 is provided with ring-type fixing plate 63, and second control circuit plate 40 is arranged on ring
The upper surface of shape fixed plate 63, drivewheel 30 and driven pulley 31 are arranged on the upper of ring-type fixing plate 63
End, drives motor be arranged on the lower end of ring-type fixing plate 63 and be coaxially disposed with drivewheel 30, structure
Compact, easy for installation.
In conjunction with Fig. 3, Fig. 5 and Fig. 6, any one robot leg 20 includes thigh 21, shank 22
With foot 23, it is connected by hip joint 24 between thigh 21 with fuselage body 60, thigh 21 and shank
Connected by knee joint 25 between 22, be connected by ankle joint 26 between shank 22 with foot 23, hip
Joint 24, thigh 21 and knee joint 25 are one-body molded, convenient processing and installing, thigh 21 at water
Square to length dimension less than hip joint 24 and the length dimension of knee joint 25, enormously simplify big
The structure of lower limb 21, alleviates the overall weight of robot leg 20, reduces energy consumption, and walking is got up slim and graceful
Convenient.In this utility model because robot leg 20 be radiosymmetric, can in motor process,
The direction that front face 12 faces is set to front, therefore, a no matter front foot or two front foots, or
After arbitrarily rotating towards certain angle, can advance the most forward.
Shank 22 is internal is interval with the first servomotor 221 and the second servomotor 222, and first watches
Take motor 221 and the second servomotor 222 connects knee joint 25 and ankle joint 26, the first servo respectively
Motor 221 drives shank 22 to realize 180 degree of rotations around knee joint 25, the most upwards, the most each 90 degree
Rotating, the second servomotor 222 band action spot 23 realizes 180 degree of rotations around ankle joint 26, the most upwards,
The most each 90 degree of rotations, fuselage body 60 is provided with the 3rd servomotor 41 with thigh 21 junction,
3rd servomotor 41 drives thigh 21 to realize 180 degree of rotations around hip joint 24, the most to the left, to the right
Each 90 degree of rotations.First servomotor the 221, second servomotor 222 and the 3rd servomotor 41
Connecting second control circuit plate 40, first servomotor the 221, second servomotor 222 and the 3rd is watched
Take motor 41 to accept the control signal of second control circuit plate 40 and realize action.
In conjunction with Fig. 6, Fig. 7 and Fig. 8, the ground engaging end of foot 23 is provided with the rubber contact 231 that outside is curved,
Rubber contact 231 uses quality of rubber materials, when depressed can contraction distortion.Rubber contact 231
Inner side is provided with connection post 54, connects post 54 and includes the stigma of the medial surface laminating with rubber contact 231
541 and outwardly directed mast 542.The inside of foot 23 is provided with location switch 50, location switch 50
Connect second control circuit plate 40, extruding rubber contact 231 when foot 23 touches ground, and the company of promotion
Connect post 54 to contact with location switch 50, be energized into bit switch 50 and open, and signal is passed to second
Control circuit plate 40.
Concrete, the bottom surface of location switch 50 is interval with stationary contact block 52 and dynamic contact block 51, dynamic tactile
The bottom surface of block 51 is provided with the connection contact 511 of column, when connecting post 54 pushing away at rubber contact 231
When moving under dynamic, mast 542 touches connection contact 511, and being energized into bit switch 50 opens, and puts in place
Switch 50 and coherent signal is passed to second control circuit plate 40.Simple in construction, it is possible to detect exactly
Whether contact to earth to foot 23, practical value is high.
This utility model, the most symmetrical robot leg can keep the flat of multi-foot robot
Weighing apparatus, safe and reliable, when multi-foot robot needs to turn round in the process of walking, only need to be passed by gear
Motivation structure is rotated head and realizes 360 degree of rotations, and fuselage body need not rotate, and rotates the most quickly,
Time-consuming, low to environmental requirement, low cost, there is the highest practical value.
This utility model is not limited to above-mentioned preferred forms, and anyone should learn in this practicality new
The structure change made under the enlightenment of type, every have same or like technical side with this utility model
Case, within each falling within protection domain of the present utility model.
Claims (10)
1. the six general walking robot of foot, including mechanical construction and control system, it is characterised in that institute
State frame for movement and include airframe structure and multiple machine the most symmetrical around described airframe structure
Device people's lower limb,
Described airframe structure includes head and fuselage body, is provided with range finding camera head in described head,
Described range finding camera head includes swivel head and is arranged on the front face of described swivel head front end, described front face
Inner side be respectively equipped with range finding photographing module, the upper surface of described fuselage body is provided with rotating disk, described rotation
Rotary head is sealingly fastened on described rotating disk, and described fuselage body is internally installed the described turntable rotation of driving
Gear drive, drive described rotating disk and described swivel head to carry out 360 degree of rotations；
Any one of robot leg includes thigh, shank and foot, and described thigh is with described fuselage originally
Connected by hip joint between body, be connected by knee joint between described thigh with described shank, described
Be connected by ankle joint between shank with described foot, be interval with inside described shank the first servomotor,
Second servomotor, described first, second servomotor connects described knee joint respectively and described ankle closes
Joint, and drive described shank and described foot to realize 180 degree rotating around described knee joint and described ankle joint
Rotating, described fuselage body is provided with the 3rd servomotor with described thigh junction, the described 3rd watches
Take thigh described in driven by motor and realize 180 degree of rotations around described hip joint；
Described control system includes multiple being respectively used to control described airframe structure and described robot leg moves
The control circuit plate made, also includes electronic compass, force transducer, battery and encoder.
The six general walking robots of foot the most as claimed in claim 1, it is characterised in that described control
Circuit board includes the first control circuit plate being arranged on described rotating disk and is arranged in described fuselage body
The second control circuit plate in portion.
The six general walking robots of foot the most as claimed in claim 1, it is characterised in that also include red
Outer lamp module, is provided with front face interior lining panel inside described front face, described range finding photographing module and described infrared
Lamp module is arranged on described front face interior lining panel.
The six general walking robots of foot the most as claimed in claim 2, it is characterised in that described gear
Drive mechanism includes intermeshing drivewheel and driven pulley, described drivewheel by driving motor to drive,
Described driving motor connects described first control circuit plate, and the middle part of described driven pulley is provided with rotary shaft,
Described rotary shaft passes described rotating disk and described first control circuit plate and drives it to rotate.
The six general walking robots of foot the most as claimed in claim 4, it is characterised in that described fuselage
Body includes fuselage upper cover and the fuselage lower cover mutually fastened, and the middle part within described fuselage body is installed
Ring-type fixing plate, described second control circuit plate is had to be arranged on the upper surface of described ring-type fixing plate, institute
State the first servomotor, the second servomotor and described 3rd servomotor and connect described second control electricity
Road plate.
The six general walking robots of foot the most as claimed in claim 5, it is characterised in that described active
Wheel and described driven pulley are arranged on the upper end of described ring-type fixing plate, and described driving motor is arranged on described
The lower end of ring-type fixing plate is also coaxially disposed with described drivewheel.
The six general walking robots of foot the most as claimed in claim 2, it is characterised in that described sufficient
Ground engaging end is provided with the rubber contact that outside is curved, and the inner side of described rubber contact is provided with connection post, institute
Stating sufficient inside and be provided with location switch, described location switch connects described second control circuit plate, described
Foot extrudes described rubber contact when touching ground, and promotes described connection post to connect with described location switch
Touch, excite described location switch to open.
The most as claimed in claim 7 six foot general walking robots, it is characterised in that described in put in place
Being interval with stationary contact block and dynamic contact block on the bottom surface of switch, the bottom surface of described dynamic contact block is provided with column
Connect contact.
The six general walking robots of foot the most as claimed in claim 8, it is characterised in that described connection
Post includes stigma and outwardly directed mast, the described connection of the medial surface laminating with described rubber contact
When post moves under the promotion of described rubber contact, described mast touches described connection contact, excites
Described location switch is opened.
The six general walking robots of foot the most as claimed in claim 1, it is characterised in that described machine
The number of device people's lower limb is 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620340465.6U CN205499111U (en) | 2016-04-21 | 2016-04-21 | Six sufficient general legged robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620340465.6U CN205499111U (en) | 2016-04-21 | 2016-04-21 | Six sufficient general legged robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205499111U true CN205499111U (en) | 2016-08-24 |
Family
ID=56706153
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620340465.6U Withdrawn - After Issue CN205499111U (en) | 2016-04-21 | 2016-04-21 | Six sufficient general legged robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205499111U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105774941A (en) * | 2016-04-21 | 2016-07-20 | 奇弩（北京）科技有限公司 | Hexapod universal walking robot |
| CN107089276A (en) * | 2017-05-04 | 2017-08-25 | 河海大学常州校区 | A kind of Foot sole structure of robot with foldable toe |
-
2016
- 2016-04-21 CN CN201620340465.6U patent/CN205499111U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105774941A (en) * | 2016-04-21 | 2016-07-20 | 奇弩（北京）科技有限公司 | Hexapod universal walking robot |
| CN105774941B (en) * | 2016-04-21 | 2018-01-19 | 奇弩（北京）科技有限公司 | The six general walking robots of foot |
| CN107089276A (en) * | 2017-05-04 | 2017-08-25 | 河海大学常州校区 | A kind of Foot sole structure of robot with foldable toe |
| CN107089276B (en) * | 2017-05-04 | 2019-01-22 | 河海大学常州校区 | A kind of Foot sole structure of robot with foldable toe |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170331 Address after: 100083 Suzhou Street Beijing No. 3 503-10 Patentee after: Odd crossbow (China) Co., Ltd. Address before: 100083 Beijing, Xueyuan Road, No. 768, creative industrial park, North B, 2222, Patentee before: Odd crossbow (Beijing) Technology Co., Ltd. |
|
| TR01 | Transfer of patent right | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160824 Effective date of abandoning: 20180119 |
|
| AV01 | Patent right actively abandoned |