CN207433679U - A kind of six-leg robot - Google Patents
A kind of six-leg robot Download PDFInfo
- Publication number
- CN207433679U CN207433679U CN201721494317.0U CN201721494317U CN207433679U CN 207433679 U CN207433679 U CN 207433679U CN 201721494317 U CN201721494317 U CN 201721494317U CN 207433679 U CN207433679 U CN 207433679U
- Authority
- CN
- China
- Prior art keywords
- driving mechanism
- leg
- bearing
- driving
- oscillating
- 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.)
- Active
Links
Abstract
The utility model is related to robot fields, are specifically a kind of six-leg robot, including body, leg, right rear leg in right front leg, the right side are connected on the one side of the body, left back leg, left leg, left front leg are connected on the opposite side of the body；The front end of the body is connected with motion arm, and paw is connected on the motion arm；It is eight prism shapes that the upper end of the body, which is connected with for the body described in the detector of perception, and the utility model is realized by the way of coordinating enough using six to advance in irregular environment, has the environmental suitability of height；Using being hinged in running gear, work is sensitive, has high flexibility；Alternative traditional artificial detection reduces labour's consumption and damage；Compared with conventional track or joint type robot, the utility model may span across the barrier for being difficult to cross over, and carry a variety of operation instruments, realize flexible field work.
Description
Technical field
The utility model is related to robot fields, are specifically a kind of six-leg robot.
Background technology
Non- structure environment mobile robot mainly with field detection, disaster relief, in order to smoothly complete task, needs to have
The environmental suitability of standby height and flexibility need mobile rapid and have obstacle climbing ability during exercise, such as rough and uneven in surface
Ground on walk, moved in catwalk, up/down steps, ascend slope and leaping over obstacles, meanwhile, can also carry
A variety of operation instruments, for mobile robot in order to work instead of people under some particular surroundings, robot, which needs to have, uses instrument
Ability, this requires on mobile robot platform have the corresponding interface, a variety of fight function modules can be carried, including scout,
The functions such as supervision on hazardous substances, explosion-proof, explosion；Multiple degrees of freedom manipulator can be equipped with, realizes necessary operation, while in order to ensure
The normal operation of instrument, such as investigation camera, it is necessary to which robot keeps the stability of body and flat in moving process
Stability so that mobile robot possesses the ability that the mankind is replaced to complete particular task in Complex Natural Environment.
But mobile robot will participate in the work instead of people, and what is initially encountered is the non-structural characteristic of natural environment, therefore
How to realize stabilization of the mobile robot in non-structural natural environment, quick walking, be that mobile robot research faces at present
An important topic, and adapt to non-structure environment operation robot architecture design and the structure operation gait planning be
Mobile robot realizes the most basic requirement of stabilized walking.
The content of the invention
To solve the above-mentioned problems, the utility model proposes a kind of six-leg robots.
A kind of six-leg robot including body, is connected with leg, the right side in right front leg, the right side on the one side of the body
Back leg is connected with left back leg, left leg, left front leg on the opposite side of the body；The front end of the body is connected with behaviour
Make arm, paw is connected on the motion arm；The upper end of the body is connected with for the body described in the detector of perception
Body is eight prism shapes.
The right front leg, it is right in leg, right rear leg, left back leg, left leg, left front leg be running gear of the same race, it is described
Running gear include the leg support being connected with body, the leg driving mechanism I that is connected with leg support and leg driving mechanism II,
The foot coordinated with leg driving mechanism I and leg driving mechanism II.
The leg support include leg support frame, be connected with leg support frame leg support frame link, be arranged on leg branch
Hip joint oscillating motor connector in frame link, the hip joint oscillating motor branch being connected with hip joint oscillating motor connector
Frame, the hip joint oscillating motor being connected with hip joint oscillating motor stent, are provided on the leg support frame link and hip
The shaft of joint oscillating motor stent connection.
The foot includes being connected with the spherical hinge bulb of leg support frame cooperation, with the foot of spherical hinge bulb cooperation
Frame drives steering engine, the foot being connected with foot driving steering engine with the foot of foot link cooperation, is set on the foot link
It is equipped with the foot motor shaft coupling piece for being connected with foot driving steering engine.
The leg driving mechanism I includes the driving mechanism I being connected with leg support frame articulated connection framves and driving mechanism
The driving mechanism I pair of nut of I articulated connection frame connections is built on the leading screw I, the leading screw I of driving mechanism I pair of nut and matches somebody with somebody
Conjunction has is connected with leading screw I driving motors on shaft coupling II and shaft coupling I, the leading screw I, and the both ends of the leading screw I are equal
Interference fit has bearing I and bearing I I, and swing mechanism I is connected on the leading screw I driving motors.
The upper end of the bearing I is provided with the bearing I upper bracket of cooperation, and the lower end of the bearing I is provided with cooperation
Bearing I undersetting；The upper end of the bearing I I is combined with bearing I I upper brackets, and the lower end of the bearing I I, which is combined with, to be set
The bearing I I undersettings of cooperation are equipped with, bearing I I end caps are provided on the bearing I I.
The swing mechanism I includes the driving mechanism I stents being connected with leading screw I driving motors and driving mechanism I stents
The driving mechanism I swinging mountings of connection, the driving mechanism I oscillating motors shaft coupling piece on driving mechanism I swinging mountings,
The driving mechanism I oscillating motors that are connected with driving mechanism I oscillating motor shaft coupling pieces are connected with driving mechanism I oscillating motors
Driving mechanism I oscillating motor mounting brackets are provided with and driving mechanism I in the driving mechanism I oscillating motor mounting brackets
The driving mechanism I of swinging mounting cooperation swings shaft.
The leg driving mechanism II includes driving mechanism II articulated connections frame, matches somebody with somebody with driving mechanism II articulated connection framves
The driving mechanism II pair of nut of conjunction is built on the leading screw II, the leading screw II of driving mechanism II pair of nut and is combined with shaft coupling
Driving mechanism II driving motors are connected on device III and shaft coupling IV, the leading screw II, the both ends of the leading screw II are equal
Interference fit has bearing I II and bearing I V, and swing mechanism II is connected on the driving mechanism II driving motors.
The upper end of the bearing I II is provided with the bearing I II upper brackets of cooperation, and the lower end of the bearing I II is set
There are the bearing I II undersettings of cooperation；The upper end of the bearing I V is combined with bearing I V upper brackets, the lower end of the bearing I V
The bearing I V undersettings for being provided with cooperation are combined with, bearing I V end caps are provided on the bearing I V.
The swing mechanism II includes the driving mechanism II stents being connected with driving mechanism II driving motors and driving machine
The driving mechanism II swinging mountings of structure II stents connection, the driving mechanism II on driving mechanism II swinging mountings swing electricity
Arbor connector, the driving mechanism II oscillating motors being connected with driving mechanism II oscillating motor shaft coupling pieces and driving mechanism II
The driving mechanism II oscillating motor mounting brackets of oscillating motor connection, set in the driving mechanism II oscillating motor mounting brackets
It is equipped with and swings shaft with the driving mechanism II of driving mechanism II swinging mountings cooperation.
The beneficial effects of the utility model are：The utility model is realized by the way of coordinating enough using six in irregular environment
Advance, there is the environmental suitability of height；Using being hinged in running gear, work is sensitive, has high flexibility；It is alternative
Traditional artificial detection reduces labour's consumption and damage；Compared with conventional track or joint type robot, the utility model can be across
The barrier crossed over more is difficult to, and carries a variety of operation instruments, realizes flexible field work.
Description of the drawings
The utility model is further illustrated with reference to the accompanying drawings and examples.
Fig. 1 is the dimensional structure diagram of the utility model；
Fig. 2 is the running gear dimensional structure diagram of the utility model；
Fig. 3 is the leg support of the utility model and foot dimensional structure diagram one；
Fig. 4 is the leg support of the utility model and foot dimensional structure diagram two；
Fig. 5 is the driving mechanism I dimensional structure diagrams one of the utility model；
Fig. 6 is the driving mechanism I dimensional structure diagrams two of the utility model；
Fig. 7 is the driving mechanism II dimensional structure diagrams one of the utility model；
Fig. 8 is the driving mechanism II dimensional structure diagrams two of the utility model；
Fig. 9 is the body dimensional structure diagram of the utility model；
Figure 10 is the leg support frame dimensional structure diagram of the utility model；
Figure 11 is the driving mechanism I stent dimensional structure diagrams of the utility model；
Figure 12 is the connector dimensional structure diagram of the utility model；
Figure 13 is the spherical hinge bulb support connector dimensional structure diagram of the utility model；
Figure 14 is the oscillating motor mounting bracket dimensional structure diagram of the utility model；
Figure 15 is the driving mechanism swinging mounting dimensional structure diagram of the utility model；
Figure 16 is the swinging mounting dimensional structure diagram of the utility model；
Figure 17 is the foot dimensional structure diagram of the utility model；
Figure 18 is the foot link dimensional structure diagram of the utility model.
Specific embodiment
In order to which the technical means, creative features, achievable purpose and effectiveness for realizing the utility model are easy to understand, under
It is expanded on further in face of the utility model.
As shown in Fig. 1 to Figure 18, a kind of six-leg robot including body 10, connects on the one side of the body 10
Be connected to right front leg 1, it is right in leg 2, right rear leg 3, left back leg 6, left leg 7, left front is connected on the opposite side of the body 10
Leg 8；The front end of the body 10 is connected with motion arm 4, and paw 6 is connected on the motion arm 4；The body 10
It is eight prism shapes that upper end, which is connected with for the body 10 described in the detector 9 of perception,.
The right front leg 1, it is right in leg 2, right rear leg 3, left back leg 6, left leg 7, left front leg 8 be walking dress of the same race
Put, the running gear include the leg support 11 being connected with body 10, the leg driving mechanism I12 that is connected with leg support 11 and
Leg driving mechanism II14, the foot 13 coordinated with leg driving mechanism I12 and leg driving mechanism II14.
The leg support 11 includes leg support frame 21, the leg support frame link 23 being connected with leg support frame 21, setting
Hip joint oscillating motor connector 26 in leg support frame link 23, the hip being connected with hip joint oscillating motor connector 26
Joint oscillating motor stent 28, the hip joint oscillating motor 29 being connected with hip joint oscillating motor stent 28, the leg branch
The shaft 30 being connected with hip joint oscillating motor stent 28 is provided on frame link 23.
The foot 13 includes the spherical hinge bulb 20 coordinated with leg support frame 21, the foot coordinated with spherical hinge bulb 20
Portion's link 18 drives steering engine 16, the foot 15 being connected with foot driving steering engine 16 with the foot that foot link 18 coordinates, described
Foot link 18 on be provided with for the foot motor shaft coupling piece 33 that is connected of foot driving steering engine 16.
Spherical hinge bulb support is provided on the spherical hinge bulb 20.
By foot steering engine fixing bolt 17 is driven to connect between the foot driving steering engine 16 and foot 15.
Bolt 19 is connected between the spherical hinge bulb 20 and foot link 18 by foot link to connect.
Connected between the leg support frame 21 and leg support frame link 23 by leg support frame link fixing bolt 22
It connects.
Pass through hip joint oscillating motor between the leg support frame link 23 and hip joint oscillating motor connector 26
Connector fastening bolt 24, hip joint oscillating motor connector fixing bolt 25 connect.
It is swung between the hip joint oscillating motor connector 26 and hip joint oscillating motor stent 28 by hip joint
Motor fixing bolt 28 connects.
Pass through foot motor contact fastening bolt between the foot motor shaft coupling piece 33 and foot link 18
31 and foot motor contact fixing bolt 32 connect.
The leg driving mechanism I12 includes the driving mechanism I being connected with leg support frame 21 articulated connections frame 34, with driving
The driving mechanism I pair of nut 39 of the motivation structure I articulated connection connections of frame 34, the leading screw I40 for being built in driving mechanism I pair of nut 39,
It is combined on the leading screw I40 on shaft coupling II46 and shaft coupling I44, the leading screw I40 and is connected with leading screw I driving motors
The both ends of 48, the leading screw I40 have been interference fitted bearing I 35 and bearing I I43, on the leading screw I driving motors 48
It is connected with swing mechanism I.
The shaft coupling II46 connects bolt 45 with shaft coupling II by shaft coupling I with shaft coupling I44 and connects.
Hingedly connected by driving mechanism I between the driving mechanism I articulated connection framves 34 and driving mechanism I pair of nut 39
Frame connection bolt 38 is connect to connect.
The upper end of the bearing I 35 is provided with the bearing I upper bracket 63 of cooperation, and the lower end of the bearing I 35 is set
There is the bearing I undersetting 61 of cooperation；The upper end of the bearing I I43 is combined with bearing I I upper brackets 62, the bearing I I43
Lower end be combined with the bearing I I undersettings 58 for being provided with cooperation, be provided with bearing I I end caps 59 on the bearing I I43.
The bearing I 35 is consolidated with bearing I undersetting 61 by bearing I undersetting fixing bolt 36 and bearing I upper bracket
Determine bolt 37 to connect.
It is connected between the bearing I I43 and bearing I I end caps 59 by bearing I I end caps fixing bolt 41.
Bolt 42 is connected by undersetting on bearing I I between the bearing I I upper brackets 62 and bearing I I undersettings 58
Connection.
The swing mechanism I includes the driving mechanism I stents 60 being connected with leading screw I driving motors 48 and driving mechanism I
The driving mechanism I swinging mountings 57 that stent 60 connects, the driving mechanism I on driving mechanism I swinging mountings 57 swing electricity
Arbor connector 50, the driving mechanism I oscillating motors 53 being connected with driving mechanism I oscillating motors shaft coupling piece 50 and driving machine
The driving mechanism I oscillating motors mounting bracket 54 that structure I oscillating motors 53 connect, driving mechanism I oscillating motors installation branch
The driving mechanism I coordinated with driving mechanism I swinging mountings 57 is provided on frame 54 and swings shaft 55.
The leading screw I driving motors 48 and driving mechanism I stents 60 are connected by leading screw I driving motors fixing bolt 47
It connects.
Driving mechanism I articulated connections frame 34, driving mechanism I pair of nut 39, leading screw I40, shaft coupling II46 and the connection
Axis device I44, leading screw I driving motors 48, bearing I 35 and bearing I I43, leading screw I driving motors 48 are arranged at driving mechanism I branch
On frame 60.
The driving mechanism I oscillating motors shaft coupling piece 50 and driving mechanism I swinging mountings 57 are put by driving mechanism I
Dynamic motor shaft coupling piece fastening bolt 49 connects.
The driving mechanism I oscillating motors shaft coupling piece 50 and driving mechanism I oscillating motors 53 are put by driving mechanism I
Dynamic motor shaft coupling piece fixing bolt 51 and driving mechanism I oscillating motors fixing bolt 52 connect.
The driving mechanism I stents 60 and driving mechanism I stents 60 passes through driving mechanism I swinging mountings fixing bolt 56
Connection.
The leg driving mechanism II14 includes by motivation structure II hingedly connecting between drive driving mechanism I swinging mountings 57
It connects frame 64, the driving mechanism II pair of nut 66 coordinated with driving mechanism II articulated connection framves 64, be built in driving mechanism II nuts
It is combined on the leading screw II67, the leading screw II67 of pair 66 on shaft coupling III85 and shaft coupling IV84, the leading screw II67
Driving mechanism II driving motors 83 are connected with, the both ends of the leading screw II67 have been interference fitted bearing I II88 and bearing
IV86 is connected with swing mechanism II on the driving mechanism II driving motors 83.
Bolt 72 is connected between the shaft coupling III85 and shaft coupling IV84 by shaft coupling III and shaft coupling IV to connect
It connects.
It is cut with scissors between the driving mechanism II articulated connection framves 64 and driving mechanism II pair of nut 66 by driving mechanism II
Link connection bolt 65 is connect to connect.
The upper end of the bearing I II88 is provided with the bearing I II upper brackets 93 of cooperation, under the bearing I II88
End is provided with the bearing I II undersettings 90 of cooperation；The upper end of the bearing I V86 is combined with bearing I V upper brackets 92, described
The lower end of bearing I V86 is combined with the bearing I V undersettings 71 for being provided with cooperation, and bearing I V ends are provided on the bearing I V86
Lid 69.
It is connected between the bearing I V86 and bearing I V end caps 69 by IV end cap fixing bolt 68 of bearing.
Bolt 70 is connected between the bearing I V86 and bearing I V undersettings 71 by undersetting on bearing IV to connect.
The swing mechanism II includes the driving mechanism II stents 87 being connected with driving mechanism II driving motors 83, with driving
The driving mechanism II swinging mountings 74 of the connection of motivation structure II stents 87, the driving machine on driving mechanism II swinging mountings 74
Structure II oscillating motors shaft coupling piece 76, the driving mechanism II oscillating motors being connected with driving mechanism II oscillating motors shaft coupling piece 76
79th, the driving mechanism II oscillating motors mounting bracket 80 being connected with driving mechanism II oscillating motors 79, the driving mechanism II
The driving mechanism II coordinated with driving mechanism II swinging mountings 74 is provided in oscillating motor mounting bracket 80 and swings shaft 81.
The driving mechanism I swinging mountings 57 and driving mechanism II swinging mountings 74 are swinging mounting of the same race.
The driving mechanism I swinging mountings 57 and driving mechanism II swinging mountings 74 is that driving mechanism of the same race swings branch
Frame.
The driving mechanism I oscillating motors mounting bracket 54 and driving mechanism II oscillating motors mounting bracket 80 is same
Kind oscillating motor mounting bracket.
The driving mechanism II oscillating motors shaft coupling piece 76, hip joint oscillating motor connector 26, foot motor shaft
Connector 33, driving mechanism I oscillating motors shaft coupling piece 50 are connector of the same race.
Electricity is driven by driving mechanism II between the driving mechanism II driving motors 83 and driving mechanism II stents 87
Machine fixing bolt 73 connects.
Pass through driving between the driving mechanism II swinging mountings 74 and driving mechanism II oscillating motors shaft coupling piece 76
Mechanism II oscillating motor shaft coupling pieces fastening bolt 75 connects.
Pass through driving between the driving mechanism II oscillating motors shaft coupling piece 76 and driving mechanism II oscillating motors 79
Mechanism II oscillating motor shaft coupling pieces fixing bolt 77 and driving mechanism II oscillating motors fixing bolt 78 connect.
Branch is swung by driving mechanism II between the driving mechanism II swinging mountings 74 and driving mechanism II stents 87
Frame fixing bolt 82 connects.
It is connected between the bearing I II88 and bearing I II undersettings 90 by bearing I II upper brackets fixing bolt 89.
Pass through bearing I II undersetting fixing bolts between the bearing I II undersettings 90 and driving mechanism II stents 87
91 connections.
The application method of the utility model：The first step：Sufficient end driving motor 16 starts, and driving foot 15 lifts；
Second step：Driving mechanism I12 stretches out, driving mechanism II14 retracts, while driving mechanism I oscillating motors 53, driving
29 forward swing of mechanism II oscillating motors 79 and leg support oscillating motor realizes swing phase movement；
3rd step：Sufficient end driving motor 16 moves, and driving foot 15 is fallen to be contacted with ground；
4th step：Driving mechanism I12 retracts, driving mechanism II14 stretches out, while driving mechanism I oscillating motors 53, driving
It is put after mechanism II oscillating motors 79 and leg support oscillating motor 29, realizes support phase movement, completion is once taken a step, so as to drive body
Body 10 advances.
The advantages of basic principle, main feature and the utility model of the utility model has been shown and described above.One's own profession
The technical staff of industry is it should be appreciated that the present utility model is not limited to the above embodiments, described in above embodiments and description
Simply the utility model principle, on the premise of not departing from the spirit and scope of the utility model, the utility model also has
Various changes and modifications, these various changes and improvements fall within the scope of the claimed invention.The requires of the utility model
Protection domain is defined by the appending claims and its equivalent thereof.
Claims (10)
1. a kind of six-leg robot, it is characterised in that：Including body (10), it is connected on the one side of the body (10)
Right front leg (1), it is right in leg (2), right rear leg (3), be connected with left back leg (6), left leg on the opposite side of the body (10)
(7), left front leg (8)；The front end of the body (10) is connected with motion arm (4), and the motion arm is connected with paw on (4)
(5)；It is eight prism shapes that the upper end of the body (10), which is connected with for the body (10) described in the detector (9) of perception,.
2. a kind of six-leg robot according to claim 1, it is characterised in that：The right front leg (1), it is right in leg
(2), right rear leg (3), left back leg (6), left leg (7), left front leg (8) are running gear of the same race, the running gear bag
Include the leg support (11) being connected with body (10), the leg driving mechanism I (12) being connected with leg support (11) and leg driving machine
Structure II (14), the foot (13) coordinated with leg driving mechanism I (12) and leg driving mechanism II (14).
3. a kind of six-leg robot according to claim 2, it is characterised in that：The leg support (11) includes leg
Portion's stent (21), the leg support frame link (23) being connected with leg support frame (21) are arranged in leg support frame link (23)
Hip joint oscillating motor connector (26), the hip joint oscillating motor stent that is connected with hip joint oscillating motor connector (26)
(28), the hip joint oscillating motor (29) being connected with hip joint oscillating motor stent (28), the leg support frame link
(23) shaft (30) being connected with hip joint oscillating motor stent (28) is provided on.
4. a kind of six-leg robot according to claim 2, it is characterised in that：The foot (13) includes and leg
The spherical hinge bulb (20) of portion's stent (21) cooperation connects with the foot link (18) of spherical hinge bulb (20) cooperation, with foot
The foot driving steering engine (16) for connecing frame (18) cooperation, the foot (15) being connected with foot driving steering engine (16), foot connection
The foot motor shaft coupling piece (33) for being connected with foot driving steering engine (16) is provided on frame (18).
5. a kind of six-leg robot according to claim 2, it is characterised in that：The leg driving mechanism I
(12) the driving mechanism I articulated connection framves (34) being connected with leg support frame (21) are included, be articulated and connected frame (34) with driving mechanism I
The driving mechanism I pair of nut (39) of connection, the leading screw I (40) for being built in driving mechanism I pair of nut (39), the leading screw I
(40) shaft coupling II (46) and shaft coupling I (44) are combined on, leading screw I driving motors are connected on the leading screw I (40)
(48), the both ends of the leading screw I (40) have been interference fitted bearing I (35) and bearing II (43), leading screw I drivings
Motor is connected with swing mechanism I on (48).
6. a kind of six-leg robot according to claim 5, it is characterised in that：The upper end of the bearing I (35)
The bearing I upper bracket (63) of cooperation is provided with, the lower end of the bearing I (35) is provided with the bearing I undersetting (61) of cooperation；
The upper end of the bearing II (43) is combined with II upper bracket of bearing (62), and the lower end of the bearing II (43) is combined with setting
There is II undersetting of bearing (58) of cooperation, II end cap of bearing (59) is provided on the bearing II (43).
7. a kind of six-leg robot according to claim 5, it is characterised in that：The swing mechanism I include with
The driving mechanism I stents (60) of leading screw I driving motors (48) connection, the driving mechanism I pendulum being connected with driving mechanism I stents (60)
Dynamic stent (57), the driving mechanism I oscillating motors shaft coupling piece (50) on driving mechanism I swinging mountings (57) and drive
The driving mechanism I oscillating motors (53) of motivation structure I oscillating motors shaft coupling piece (50) connection and driving mechanism I oscillating motors
(53) the driving mechanism I oscillating motors mounting bracket (54) of connection, in the driving mechanism I oscillating motors mounting bracket (54)
It is provided with and swings shaft (55) with the driving mechanism I of driving mechanism I swinging mountings (57) cooperation.
8. a kind of six-leg robot according to claim 2, it is characterised in that：The leg driving mechanism II
(14) the articulated connection frame of driving mechanism II (64) is included, II spiral shell of driving mechanism that the frame (64) that is articulated and connected with driving mechanism II coordinates
Shaft coupling is combined on female secondary (66), the leading screw II (67) for being built in II pair of nut of driving mechanism (66), the leading screw II (67)
II driving motor of driving mechanism (83) is connected on device III (85) and shaft coupling IV (84), the leading screw II (67), it is described
The both ends of leading screw II (67) have been interference fitted bearing I II (88) and bearing I V (86), and the driving mechanism II drives electricity
Machine is connected with swing mechanism II on (83).
9. a kind of six-leg robot according to claim 8, it is characterised in that：The bearing I II's (88) is upper
End is provided with the bearing I II upper brackets (93) of cooperation, and the lower end of the bearing I II (88) is provided under the bearing I II of cooperation
Bearing (90)；The upper end of the bearing I V (86) is combined with bearing I V upper brackets (92), the lower end of the bearing I V (86)
The bearing I V undersettings (71) for being provided with cooperation are combined with, bearing I V end caps (69) are provided on the bearing I V (86).
10. a kind of six-leg robot according to claim 8, it is characterised in that：The swing mechanism II includes
The driving mechanism II stents (87) being connected with II driving motor of driving mechanism (83), the drive being connected with driving mechanism II stents (87)
Motivation structure II swinging mountings (74), the driving mechanism II oscillating motor axis connections on driving mechanism II swinging mountings (74)
Part (76), the driving mechanism II oscillating motors (79) being connected with driving mechanism II oscillating motors shaft coupling piece (76) and driving machine
The driving mechanism II oscillating motors mounting bracket (80) of structure II oscillating motors (79) connection, the driving mechanism II oscillating motors
It is provided in mounting bracket (80) and swings shaft (81) with the driving mechanism II of driving mechanism II swinging mountings (74) cooperation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721494317.0U CN207433679U (en) | 2017-11-10 | 2017-11-10 | A kind of six-leg robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721494317.0U CN207433679U (en) | 2017-11-10 | 2017-11-10 | A kind of six-leg robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207433679U true CN207433679U (en) | 2018-06-01 |
Family
ID=62288455
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721494317.0U Active CN207433679U (en) | 2017-11-10 | 2017-11-10 | A kind of six-leg robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207433679U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110329381A (en) * | 2019-07-30 | 2019-10-15 | 南京昱晟机器人科技有限公司 | A kind of high performance bionic legged type robot |
-
2017
- 2017-11-10 CN CN201721494317.0U patent/CN207433679U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110329381A (en) * | 2019-07-30 | 2019-10-15 | 南京昱晟机器人科技有限公司 | A kind of high performance bionic legged type robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104444418B (en) | Eighteen-degree-of-freedom robot with bucket | |
| CN204893945U (en) | Imitative articular housekeeping robot of human arm | |
| CN101314222B (en) | Spherical robot having visual sensation and arms on both sides | |
| CN210537521U (en) | Self-propelled fruit picking robot for complex landform area | |
| CN103279113B (en) | A kind of distributed hydraulic pressure quadruped robot control system and control method | |
| CN105599818B (en) | Barrier-surpassing robot | |
| JP2001150370A (en) | Leg-type moving robot and operation control method for the same | |
| CN105752197A (en) | Resilient four-link mechanical leg and test platform thereof | |
| CN110537419A (en) | Self-propelled self-balancing picking robot | |
| CN112650222B (en) | Jumping gait planning method of multi-legged robot | |
| CN112026945A (en) | Parallel rescue robot with foot-type adjustable posture | |
| CN103112515A (en) | Wheel leg combined type robot | |
| CN110466643B (en) | Penguin bionic robot and walking method | |
| CN207433679U (en) | A kind of six-leg robot | |
| CN110406613A (en) | A kind of light-duty single leg mechanism of multiple degrees of freedom | |
| CN106585762A (en) | Bionic robot rat | |
| CN105539628A (en) | Wheeled leg type cockroach-shaped bio-robot | |
| CN109987168A (en) | A kind of Three Degree Of Freedom robot leg system based on toothed belt transmission | |
| CN108216421A (en) | A kind of series-parallel connection pedipulator and its control method | |
| CN102799184A (en) | Stability control method for rbiomimetic obosaur crawling | |
| CN206123679U (en) | Humanoid robot is out of shape to high trafficability characteristic | |
| CN107839782A (en) | A kind of six-leg robot | |
| CN109278890A (en) | A kind of multifunctional obstacle-surmounting robot system | |
| CN1429692A (en) | Series-parallel man-shaped robot | |
| CN209051505U (en) | A kind of multifunctional obstacle-surmounting robot system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |