CN206734445U - A kind of Hexapod Robot based on parallel institution - Google Patents
A kind of Hexapod Robot based on parallel institution Download PDFInfo
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- CN206734445U CN206734445U CN201621464873.9U CN201621464873U CN206734445U CN 206734445 U CN206734445 U CN 206734445U CN 201621464873 U CN201621464873 U CN 201621464873U CN 206734445 U CN206734445 U CN 206734445U
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- pedipulator
- lower platform
- mounting plate
- hexapod robot
- upper mounting
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Abstract
It the utility model is related to a kind of Hexapod Robot based on parallel institution, including main body and pedipulator, main body includes upper mounting plate, lower platform and six roots of sensation expansion link, and three pin joints are each provided with upper mounting plate and lower platform, and each pin joint connects the expansion link wherein described in two by ball pivot；Pedipulator includes three driving joints and force snesor, force snesor are arranged on pedipulator bottom；Upper mounting plate and lower platform each pedipulator connected described in one at each pin joint.The utility model Hexapod Robot main body is designed using parallel institution, with six-freedom degree, six-degree-of-freedom parallel connection mechanism has the characteristics that rigidity is big, bearing capacity is strong, simple in construction, exercise load is small, can realize includes multiple frees degree such as traversing, vertical shift, rotation, lifting and moved, therefore can increase the diversity of robot motion.Leg uses three joint designs, can greatly improve adaptability of the robot to landform.
Description
Technical field
A kind of Hexapod Robot based on parallel institution is the utility model is related to, belongs to robotic technology field.
Background technology
In nature and human society exist some mankind can not reach place or may jeopardize human life's
Special occasions.Such as planetary surface, the mine that disaster occurs, exploration and research to these hazardous environments, are scientific and technical hairs
Exhibition and the needs of progress of human society.Topographic irregularity and it is rugged and rough be these environment common feature, so as to limit wheel
The application of formula robot and caterpillar type robot.Conventional research shows that wheeled robot travels in the landform of relatively flat
When, movement velocity is fast, steady, and structure and control are also relatively simple, but when being travelled on uneven ground, energy consumption will greatly increase.Such as
When fruit runs into soft or serious rugged ground, the effect of wheel substantially reduces serious loss, mobile efficiency.In order to change
Kind wheel is to the adaptability of soft terrain and uneven ground, and crawler-type mobile mode is arisen at the historic moment, but caterpillar type robot exists
Mobility on uneven ground is still very poor, and fuselage rocks seriously during traveling.
Compared with wheeled robot, caterpillar type robot, walking robot has superior on rugged road surface
Performance.Such as Chinese patent literature CN102152818A discloses a kind of robot suitable for all-around mobile on complicated facade,
Foot is climbed including regular hexagon body and be divided on its each summit six, foot is climbed for every and is provided with three turning joints, and lead to
Cross and set miniature steering wheel to cause six sufficient connection in series-parallel, then by setting the absorption of negative pressure sucker, so that it in crawling process, begins
Keep there are four to climb foot support body at any time eventually.Technical scheme disclosed in the patent document is because being not provided with sensor
Deng feedback device, so the adaptive of complicated landform is not implemented, and due to using fixed gait, making its kinematic dexterity significantly
Limited, weaker to the adaptability of complicated landform, relative rigidity is also smaller, and bearing capacity is poor.
Utility model content
In view of the shortcomings of the prior art, the utility model provides a kind of Hexapod Robot based on parallel institution.
The technical solution of the utility model is as follows：
A kind of Hexapod Robot based on parallel institution, it is characterised in that including：
Main body, including upper mounting plate, lower platform and six roots of sensation expansion link, be each provided with upper mounting plate and lower platform three it is be hinged
Point, each pin joint connect the expansion link wherein described in two by ball pivot；
Pedipulator, including three driving joints and force snesor, force snesor are arranged on pedipulator bottom；
Pedipulator at each pin joint of upper mounting plate and lower platform described in each connection one.
Preferably, the expansion link selects hydraulic cylinder or servo electric jar.
Preferably, three pin joints of the upper mounting plate are distributed in equilateral triangle, three pin joints of the lower platform
It is distributed in equilateral triangle.
Preferably, the pedipulator and upper mounting plate, lower platform detachable connection.This design is advantageous in that, main body and
Pedipulator is detachably connected with mode using assemblnig, and pedipulator can do design, and main body can arrange in pairs or groups different structure
Pedipulator adapts to different landform, meets a variety of demands.
It is further preferred that the pedipulator is connected with upper mounting plate, lower platform bolt connection or bearing pin.
Preferably, the pedipulator includes first connecting rod, second connecting rod and third connecting rod, first connecting rod, second connecting rod,
Three connecting rods and force snesor are hinged and are driven control by steering wheel successively.This design is advantageous in that, when pedipulator needs
During adjustment, the angle adjustment of respective link can be carried out by the steering wheel of each joint, to meet that walking requires.
Preferably, the force snesor selects three-dimensional force sensor.
Preferably, the bottom of the force snesor is provided with hemispherical heelpiece.This design is advantageous in that, when pedipulator with
When hard ground contacts, avoid force snesor and directly contacted with ground, protect force snesor.
Preferably, the bottom of the lower platform is provided with rotary support mechanism, the rotary support mechanism include motor,
Gear, gear shaft, oil cylinder and support frame, the output shaft of the motor are connected with gear drive, and gear engages with gear shaft, tooth
Wheel shaft one end is connected with lower platform, the other end is connected by bearing with oil cylinder, and the piston rod of oil cylinder is connected with support frame.This design
Be advantageous in that, when Hexapod Robot needs flipper turn, can by the support of rotary support mechanism, rise, rotate, fall
Under, the step such as withdraw and realize the flipper turn of Hexapod Robot.
Preferably, support frame as described above is caoutchouc elasticity support feet.This design is advantageous in that caoutchouc elasticity support feet more can
Broken terrain is enough adapted to, is realized to the strong support of Hexapod Robot.
The beneficial effects of the utility model are：
The utility model Hexapod Robot, main body are designed using parallel institution, and main body has six-freedom degree, six degree of freedom
Parallel institution has that rigidity is big, bearing capacity is strong, simple in construction, exercise load is small, can realize and includes traversing, vertical shift, rotation, liter
The features such as multiple frees degree such as drop are moved, therefore the diversity of robot motion can be increased.Leg uses three joint designs, energy
Enough greatly improve adaptability of the robot to landform.Such a Hexapod Robot has broad application prospects, available for military affairs
The local or dangerous higher neck that the mankind such as scouting, mining, nuclear energy power generation, celestial body detecting, fire-fighting rescue can not reach
Domain.
Brief description of the drawings
Fig. 1 is the structural representation of the utility model Hexapod Robot；
Fig. 2 is the structural representation of main part in the utility model；
Fig. 3 is the structural representation of mechanical leg section in the utility model；
Fig. 4 is the structural representation (containing rotary support mechanism) of the utility model Hexapod Robot；
Fig. 5 is the structural representation of rotary support mechanism in the utility model；
Service chart when Fig. 6 is the utility model Hexapod Robot straight line moving；Wherein, a figures are after lower platform is lifted
Structural representation, b figures be lower platform it is traversing after structural representation, c figures are the structural representation after lower platform declines, and d figures are
Upper mounting plate lifting after structural representation, e figures be upper mounting plate it is traversing after structural representation, f figures be upper mounting plate decline after knot
Structure schematic diagram；
Fig. 7 is service chart when the utility model Hexapod Robot is turned；Wherein, a figures are the structure after upper mounting plate lifting
Schematic diagram, b figures are the structural representation after upper mounting plate rotates to an angle, and c figures are the structural representation after upper mounting plate declines, d
Figure is the structural representation after lower platform lifting, and e figures are lower platform rotation and the structural representation after upper mounting plate equal angular； f
Figure is the structural representation after lower platform declines；
Service chart when Fig. 8 is the utility model Hexapod Robot flipper turn；
Fig. 9 is the plan walked under the utility model Hexapod Robot complicated landform；
Figure 10 is the stereogram walked under the utility model Hexapod Robot complicated landform；
Wherein：1st, main body；2nd, pedipulator；11st, upper mounting plate；12nd, servo electric jar；13rd, ball pivot；14th, lower platform；21st,
One connecting rod；22nd, second connecting rod；23rd, third connecting rod；24th, force snesor；25th, steering wheel；3rd, rotary support mechanism；31st, gear；32、
Motor；33rd, oil cylinder；34th, support frame；35th, gear shaft；41st, top pedipulator group；42nd, lower mechanical leg group.
Embodiment
The utility model is described further by way of example and in conjunction with the accompanying drawings, but not limited to this.
Embodiment 1：
As shown in Figure 1 to Figure 3, the present embodiment provides a kind of Hexapod Robot based on parallel institution, and it mainly includes master
Body 1 and the two parts of pedipulator 2：
Wherein main body 1 includes upper mounting plate 11, lower platform 14 and six roots of sensation servo electric jar 12, upper mounting plate 11 and lower platform 14
For equilateral triangle slab construction, (i.e. upper mounting plate is around 60 ° of its central rotation into 60 ° of dislocation arrangements for upper mounting plate 11 and lower platform 14
It is overlapping with lower platform afterwards), the vertex of upper mounting plate 11 and lower platform 14 is provided with pin joint, and each pin joint passes through ball pivot
Servo electric jar 12 (as shown in Figure 2) of 13 connections wherein described in two；
Pedipulator 2 includes first connecting rod 21, second connecting rod 22, third connecting rod 23 and force snesor 24, the He of first connecting rod 21
The hinged place of second connecting rod 22 is the first driving joint, and second connecting rod 22 and the hinged place of third connecting rod 23 are the second driving joint, the
Three connecting rods 23 and the hinged place of force snesor 24 are the 3rd driving joint, and the first driving joint, the second driving joint and the 3rd drive
It is intra-articular to be provided with steering wheel 25, control second connecting rod 22, third connecting rod 23 and force snesor 24 are driven by steering wheel 25
Motion, wherein second connecting rod 22 realizes horizontal transverse movement, and third connecting rod 23 and force snesor 24 are realized to be moved down on vertical
It is dynamic).When pedipulator 2 needs adjustment, the angle adjustment of respective link can be carried out by the steering wheel of each driving joint, with full
Foot walking requires.
Each apex of upper mounting plate 11 and lower platform 14 connects a pedipulator 2, three machines that upper mounting plate 11 connects
Tool leg is referred to as top pedipulator group 41, and three pedipulators that lower platform 14 connects are referred to as lower mechanical leg group 42.This implementation
In example, first connecting rod 21 and upper mounting plate 11, the bolt connection of lower platform 14 in pedipulator 2, in actual use, pedipulator can
Seriation Design is done, different pedipulators can be assembled into Hexapod Robot with main part, to meet diversified demand.
Force snesor 24 selects three-dimensional force sensor, and the bottom of force snesor 24 is provided with hemispherical heelpiece.Work as pedipulator
When being contacted with hard ground, avoid force snesor and directly contacted with ground, protect force snesor.
In actual application, can be installed on the Hexapod Robot upper mounting plate intelligence control system and detection system (such as
Video camera, laser, temperature sensor etc.), staff can realize Wireless remote control by intelligence control system, and remote control is watched
Take the operation of electric cylinder, steering wheel, oil cylinder etc..The Hexapod Robot is applied to military surveillance, mining, nuclear energy power generation, celestial body
The local or dangerous higher field that the mankind such as detection, fire-fighting rescue can not reach, meets the requirement of scientific research and engineer operation.
Embodiment 2：
A kind of Hexapod Robot based on parallel institution, as described in Example 1, its difference is structure：This implementation
In example, servo electric jar is replaced by hydraulic cylinder, and the first connecting rod 21 in pedipulator 2 is connected with upper mounting plate 11, the bearing pin of lower platform 14.
Embodiment 3：
A kind of Hexapod Robot based on parallel institution, as described in Example 1, its difference is structure：Lower platform
14 bottom is provided with rotary support mechanism 3, rotary support mechanism 3 include motor 32, gear 31, gear shaft 35, oil cylinder 33,
The fixed platform of support frame 34 and one, motor 32 are installed on the stationary platform, and output shaft and the transmission of gear 31 of motor 32 connect
Connect, gear 31 is engaged with gear shaft 35, and the one end of gear shaft 35 is fixedly connected with lower platform 14 (under being driven while gear shaft rotates
Platform also rotates), the other end be connected that (gear shaft rotates, but oil cylinder is simultaneously with the cylinder barrel of oil cylinder 33 by bearing on the stationary platform
Not concomitant rotation), the piston rod of oil cylinder 33 is connected with support frame 34.When Hexapod Robot needs flipper turn, rotation can be passed through
The step such as turn the support of supporting mechanism, rise, rotate, fall, withdrawing to realize the flipper turn of Hexapod Robot.
Support frame 34 is caoutchouc elasticity support feet.Caoutchouc elasticity support feet can adapt to broken terrain, and can
Increase and the contact area on ground, are realized to the strong support of Hexapod Robot.
Embodiment 4：
The method of work of Hexapod Robot based on parallel institution described in a kind of embodiment 3, it is characterised in that including following
Step,
A, when Hexapod Robot straight line moving：(as shown in Figure 6)
First, the top pedipulator group 41 of upper mounting plate 11 remains stationary as, lower flat by controlling servo electric jar 12 to make successively
Platform 14 is lifted, is traversing, declined, and is remained stationary as after the lower mechanical leg group 42 of lower platform 14 contacts with ground；Then, then pass through
Control servo electric jar 12 makes upper mounting plate 11 be lifted, be traversing, declined successively, until top pedipulator group 41 and the ground of upper mounting plate 11
Face contacts, and finally realizes the straight line moving of Hexapod Robot；Repeat above step, you can realize the continuous linear of Hexapod Robot
Walking；
B, when Hexapod Robot is turned：(as shown in Figure 7)
First, by controlling servo electric jar 12 to lift upper mounting plate 11, treat the top pedipulator group 41 of upper mounting plate 11 from
Turn up the soil behind face, then by controlling servo electric jar 12 upper mounting plate 11 is rotated to an angle with respect to lower platform 14, then pass through again
Control servo electric jar 12 declines upper mounting plate 11 until top pedipulator group 41 contacts with ground；Then according to the method, lead to
Crossing control servo electric jar 12 lifts lower platform 14, after the lower mechanical leg group 42 of lower platform 14 leaves ground, then passes through
Control servo electric jar 12 makes the rotation of lower platform 14 and the identical anglec of rotation of upper mounting plate 11, then again by controlling servo-electric
Cylinder 12 make lower platform 14 decline until lower mechanical leg group 42 contacted with ground, the turning of Hexapod Robot is completed with this；
C, when Hexapod Robot needs flipper turn：(as shown in Figure 8)
Oil cylinder 33 starts first, and piston rod, which stretches out, makes support frame 34 be contacted with ground, and piston rod, which constantly stretches out, props up lower put down
Platform 14, six pedipulators are made to depart from ground；Then motor 32 starts, and is rotated by gear 31 with movable gear shaft 35, gear shaft
35 rotate lower platform 14 while rotation, and when pedipulator rotates to the position after turning to, piston rod is retracted until pedipulator
Ground is contacted, piston rod, which continues retraction, makes support frame 34 depart from ground；
D, when Hexapod Robot is walked under complicated landform：(as shown in Figure 9, Figure 10)
First, determine that upper mounting plate 11 or lower platform 14 first move according to the direction of motion, when require lower platform 14 it is static, on
When platform 11 moves, by controlling servo electric jar 12 to make, upper mounting plate 11 moves and three pedipulators of upper mounting plate connection are with upper
Platform moves, and when there is pedipulator to contact object, knows the size of contact force, Ran Houtong by the force snesor sense 24 of pedipulator bottom
Crossing servo electric jar 12 controls main body make it that main body corner location corresponding with this pedipulator is constant, this pedipulator stop motion；
Then other two pedipulators of adjustment upper mounting plate 11 make it keep upper mounting plate static after contacting object, then method adjusts lower put down according to this
Platform 14, the pedipulator of lower platform 14 is realized movement, finally realize walking of the Hexapod Robot under complicated landform.
Claims (9)
- A kind of 1. Hexapod Robot based on parallel institution, it is characterised in that including：Main body, including upper mounting plate, lower platform and six roots of sensation expansion link, three pin joints are each provided with upper mounting plate and lower platform, often Individual pin joint connects the expansion link wherein described in two by ball pivot；Pedipulator, including three driving joints and force snesor, force snesor are arranged on pedipulator bottom；Pedipulator at each pin joint of upper mounting plate and lower platform described in each connection one.
- 2. the Hexapod Robot based on parallel institution as claimed in claim 1, it is characterised in that the expansion link selects hydraulic pressure Cylinder or servo electric jar.
- 3. the Hexapod Robot based on parallel institution as claimed in claim 1, it is characterised in that three hinges of the upper mounting plate Contact is distributed in equilateral triangle, and three pin joints of the lower platform are distributed in equilateral triangle.
- 4. the Hexapod Robot based on parallel institution as claimed in claim 1, it is characterised in that the pedipulator is put down with upper Platform, lower platform detachable connection；The pedipulator is connected with upper mounting plate, lower platform bolt connection or bearing pin.
- 5. the Hexapod Robot based on parallel institution as claimed in claim 1, it is characterised in that the pedipulator includes first Connecting rod, second connecting rod and third connecting rod, first connecting rod, second connecting rod, third connecting rod and force snesor are hinged and pass through rudder successively Machine is driven control.
- 6. the Hexapod Robot based on parallel institution as claimed in claim 1, it is characterised in that the force snesor selects three Dimensional force sensor.
- 7. the Hexapod Robot based on parallel institution as claimed in claim 1, it is characterised in that the bottom of the force snesor It is provided with hemispherical heelpiece.
- 8. the Hexapod Robot based on parallel institution as claimed in claim 1 or 2, it is characterised in that the bottom of the lower platform Portion is provided with rotary support mechanism, and the rotary support mechanism includes motor, gear, gear shaft, oil cylinder and support frame, described The output shaft of motor is connected with gear drive, and gear engages with gear shaft, and gear shaft one end is connected with lower platform, the other end leads to Cross bearing to be connected with oil cylinder, the piston rod of oil cylinder is connected with support frame.
- 9. the Hexapod Robot based on parallel institution as claimed in claim 8, it is characterised in that support frame as described above is rubber bullet Property support feet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621464873.9U CN206734445U (en) | 2016-12-29 | 2016-12-29 | A kind of Hexapod Robot based on parallel institution |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621464873.9U CN206734445U (en) | 2016-12-29 | 2016-12-29 | A kind of Hexapod Robot based on parallel institution |
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| CN206734445U true CN206734445U (en) | 2017-12-12 |
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| CN201621464873.9U Expired - Fee Related CN206734445U (en) | 2016-12-29 | 2016-12-29 | A kind of Hexapod Robot based on parallel institution |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108891501A (en) * | 2018-07-31 | 2018-11-27 | 江西理工大学 | A kind of hexapod robot |
| CN110395331A (en) * | 2019-08-30 | 2019-11-01 | 哈尔滨工程大学 | A kind of quadruped robot foot that can actively switch form |
| CN111976859A (en) * | 2020-07-30 | 2020-11-24 | 上海交通大学 | UPS-based parallel-connection wheel-foot mobile robot |
| CN114508647A (en) * | 2022-03-15 | 2022-05-17 | 山东科技大学 | But parallel pipeline desilting robot of self-adaptation internal diameter |
-
2016
- 2016-12-29 CN CN201621464873.9U patent/CN206734445U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN110395331A (en) * | 2019-08-30 | 2019-11-01 | 哈尔滨工程大学 | A kind of quadruped robot foot that can actively switch form |
| CN110395331B (en) * | 2019-08-30 | 2021-07-16 | 哈尔滨工程大学 | Four-footed robot foot capable of actively switching forms |
| CN111976859A (en) * | 2020-07-30 | 2020-11-24 | 上海交通大学 | UPS-based parallel-connection wheel-foot mobile robot |
| CN114508647A (en) * | 2022-03-15 | 2022-05-17 | 山东科技大学 | But parallel pipeline desilting robot of self-adaptation internal diameter |
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| CF01 | Termination of patent right due to non-payment of annual fee |