CN207631374U - multi-foot robot - Google Patents
multi-foot robot Download PDFInfo
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- CN207631374U CN207631374U CN201721694464.2U CN201721694464U CN207631374U CN 207631374 U CN207631374 U CN 207631374U CN 201721694464 U CN201721694464 U CN 201721694464U CN 207631374 U CN207631374 U CN 207631374U
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Abstract
Multi-foot robot provided by the utility model, including main body, a plurality of mechanical foot, microprocessor, accessory power supply, first resistor device and second resistor, a plurality of machinery foot is detachably connected with main body, microprocessor, accessory power supply, first resistor device are arranged at the inside of main body, it is both provided with second resistor in every mechanical foot in a plurality of machinery foot, accessory power supply is connected by the first I/O port of first resistor device and microprocessor, and the first I/O port is grounded by second resistor.When certain in a plurality of mechanical foot of multi-foot robot detaches with agent structure, microprocessor can be learnt and adjust the motion morphology of remaining several machinery foot immediately, so that multi-foot robot is preferably moved to adapt to the variation of mechanical foot, highly shortened the limitation suffered by the scope of activities of robot.
Description
Technical field
The utility model is related to robot fields, in particular to a kind of multi-foot robot.
Background technology
Existing robot is moved often through the mode that idler wheel, crawler belt rotate in moving process, works as robot
Idler wheel or crawler belt when breaking down, this robot tends not to be moved again so that the playground of robot by
Larger limitation.
Utility model content
In view of this, the utility model embodiment provides a kind of multi-foot robot.
To achieve the above object, the utility model embodiment provides a kind of multi-foot robot, the multi-foot robot packet
It includes：Main body, a plurality of mechanical foot, microprocessor, accessory power supply, first resistor device and second resistor；The a plurality of machinery foot
It is detachably connected with the main body, the microprocessor, accessory power supply, first resistor device may be contained within the interior of the main body
Portion is both provided with second resistor in every mechanical foot in a plurality of mechanical foot；The accessory power supply passes through described first
Resistor is connect with the first I/O port of the microprocessor, and first I/O port is grounded by the second resistor.
In a possible design, every machinery foot of a plurality of machinery foot includes the first sub- joint, the second son
Joint and the sub- joint of third, the first sub- joint are connect with the described second sub- articulation, the second sub- joint and institute
State the sub- articulation connection of third.
First sub- joint is connect with the second sub- articulation, and the second sub- joint is connect with the sub- articulation of third, a plurality of machine
Every machinery foot of tool foot is moved by way of the first sub- joint, the second sub- joint and the sub- articulation connection of third
It is dynamic.
In a possible design, every machinery foot of a plurality of machinery foot further includes the first steering engine and second
Steering engine, first steering engine are arranged between the described first sub- joint and the second sub- joint, and second steering engine is arranged described
Second sub- joint and third are between joint.
First steering engine can not stop to change the angle in the first sub- joint or the second sub- joint, and by the first sub- joint or the
Two sub- joints are fixed with any angle.Similarly, the second steering engine can not stop to change the angle in the second sub- joint or the sub- joint of third,
And the second sub- joint or the sub- joint of third are fixed with any angle.
In a possible design, a plurality of machinery foot includes six mechanical foots, and the six machinery foot uniformly divides
Cloth is around the main body.
Six machinery foots are evenly distributed on around main body, should when one or two in six legs detaches with main body
Multi-foot robot still preferably can play the role of support to main body.
In a possible design, the six machinery foot includes the first machinery foot, the second machinery foot, third machinery
Sufficient, the 4th machinery foot, the 5th machinery are enough and the 6th mechanical foot, the described first mechanical foot, the second machinery are sufficient, third machinery is sufficient,
4th machinery foot, the 5th machinery are enough and the 6th machinery foot is distributed in along clockwise direction around the main body.
Six articles of machinery foots specifically include the first machinery foot, the second machinery foot, third machinery foot, the 4th machinery foot, the 5th machine
Tool is enough and the 6th machinery foot, and machinery foot may each comprise three sub- joints and two steering engines each of among the above.
In a possible design, when the first machinery foot is disconnected with the main body, the 6th machinery foot is
One group, the second machinery foot, the 4th machinery foot are one group, and the third machinery foot, the 5th machinery foot are one group, three groups of machineries
Sufficient alternating movement；When the second machinery foot is disconnected with the main body, the first machinery foot, the 4th machinery foot are one group,
Third machinery foot, the 6th machinery foot are one group, the sufficient alternating movement of two groups of machineries；When third machinery foot is disconnected with the main body
When, the 4th machinery foot is one group, and the second machinery foot, the 6th machinery foot are one group, the first machinery foot, the 5th machine
Tool is one group enough, the sufficient alternating movement of three groups of machineries；When the 4th machinery foot is disconnected with the main body, the third machinery foot
It it is one group, the second machinery foot, the 6th machinery foot are one group, and the first machinery foot, the 5th machinery foot are one group, three groups of machines
Tool foot alternating movement；When the 5th machinery foot is disconnected with the main body, the first machinery foot, the 4th machinery foot are one
Group, third machinery foot, the 6th machinery foot are one group, the sufficient alternating movement of two groups of machineries；When the 6th machinery foot and the main body
When disconnection, the first machinery foot is one group, and the second machinery foot, the 4th machinery foot are one group, third machinery foot, the
Five machinery foots are one group, the sufficient alternating movement of three groups of machineries.
When a machinery foot in six mechanical foots is disconnected with main body, remaining machinery foot can preferably support this more
The movement of biped robot.
In a possible design, when the adjacent two machinery foot in described six mechanical foots is disconnected with the main body
When, it is left in four mechanical foots, spaced two machinery foots are one group, the sufficient alternating movement of two groups of machineries.
When the adjacent two machinery foot in six mechanical foots is disconnected with main body, in remaining four mechanical foots, with alternate
Every mode make two groups of sufficient alternating movements of machinery.
In a possible design, the resistance value of the first resistor device is 10K Ω.
The resistance value of first resistor device can be 10K Ω, and certainly, the resistance value of first resistor device may be other numerical value,
It is limitation to the application that the resistance value of first resistor device, which should not be construed,.
In a possible design, the resistance value of the second resistor is 1K Ω.
The resistance value of second resistor can be 1K Ω, and certainly, the resistance value of second resistor may be other numerical value, the
It is limitation to the application that the specific resistance value of two resistors, which should not be construed,.
In a possible design, a plurality of machinery foot is detachably connected with the main body by way of magnetic absorption
It connects.
A plurality of machinery foot can be detachably connected with main body by way of magnetic absorption, when mechanical foot is detached with main body
When, due to being magnetic absorption mode, so machinery can be with the separation agile with main body, it will not be due to the machinery foot of disconnection and master
The adhesion of body and cause to tie down multi-foot robot.
The multi-foot robot that the utility model embodiment provides has the beneficial effect that：
Multi-foot robot includes main body, a plurality of mechanical foot, microprocessor, accessory power supply, first resistor device and the second electricity
Device is hindered, a plurality of machinery foot is detachably connected with main body, and microprocessor, accessory power supply, first resistor device are arranged at main body
Inside, is both provided with second resistor in every mechanical foot in a plurality of machinery foot, accessory power supply by first resistor device with it is micro-
First I/O port of processor connects, and the first I/O port is grounded by second resistor.Multi-foot robot is in a plurality of mechanical foot
Certain the motion morphologies of remaining several machinery foot can be learnt and be adjusted to microprocessor immediately when being detached with agent structure, from
And adapt to the variation of machinery foot and multi-foot robot is enable preferably to move, it highly shortened the scope of activities institute of robot
By being limited.
Description of the drawings
Illustrate the utility model embodiment or technical solution in the prior art in order to clearer, it below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, other drawings may also be obtained based on these drawings.
Fig. 1 is the structural schematic diagram for the multi-foot robot that the utility model preferred embodiment provides；
Fig. 2 is the part-structure schematic diagram of the machinery foot for the multi-foot robot that the utility model preferred embodiment provides；
Fig. 3 is the electric operation control circuit figure for the multi-foot robot that the utility model preferred embodiment provides；
Fig. 4 is a kind of tool that adjacent two machinery for the multi-foot robot that the utility model preferred embodiment provides disconnects enough
Body schematic diagram；
Fig. 5 is the another kind that adjacent two machinery for the multi-foot robot that the utility model preferred embodiment provides disconnects enough
Specific schematic diagram；
Fig. 6 is a kind of tool that alternate two machinery for the multi-foot robot that the utility model preferred embodiment provides disconnects enough
Body schematic diagram；
Fig. 7 is the another kind that alternate two machinery for the multi-foot robot that the utility model preferred embodiment provides disconnects enough
Specific schematic diagram；
Fig. 8 is a kind of tool that alternate two machinery for the multi-foot robot that the utility model preferred embodiment provides disconnects enough
Body schematic diagram.
Icon：10- multi-foot robots；110- main bodys；120- machinery foots；The the first sub- joints 121-；The the second sub- joints 122-；
The sub- joint of 123- thirds；210- the first machinery foots；220- the second machinery foots；230- third machinery groups；The 4th machinery foots of 240-；
The 5th machinery foots of 250-；The 6th machinery foots of 260-.
Specific implementation mode
Below in conjunction with attached drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out clear
Chu is fully described by, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole realities
Apply example.The detailed description of the embodiments of the present invention to providing in the accompanying drawings is not intended to limit claimed sheet below
The range of utility model, but it is merely representative of the selected embodiment of the utility model.Based on the embodiments of the present invention, ability
The every other embodiment that field technique personnel are obtained without making creative work, belongs to the utility model
The range of protection.
Details refer to Fig. 1, and Fig. 1 shows the multi-foot robot 10 that the utility model embodiment provides, the polypody machine
Device people 10 includes：Main body 110, a plurality of machinery foot 120, microprocessor U1, accessory power supply VCC, first resistor device R1 and second
Resistor R2.The a plurality of machinery foot 120 is detachably connected with the main body 110.Every in a plurality of machinery foot 120 can be with
According to the direction movement in Fig. 1 shown in A arrows.
The microprocessor U1, accessory power supply VCC, first resistor device R1 may be contained within the inside of the main body 110, described
It is both provided with second resistor R2 in every machinery foot 120 in a plurality of machinery foot 120；The accessory power supply VCC passes through described
First resistor device R1 is connect with the first I/O port of the microprocessor U1, and first I/O port passes through the second resistor
R2 is grounded, and refers to Fig. 3.
When mechanical foot 120 is connect with main body 110, the switch K1 being equivalent in Fig. 3 is closed, at this point, microprocessor U1
The output of first I/O port is low level；When mechanical foot 120 is disconnected with main body 110, the switch K1 being equivalent in Fig. 3 is disconnected, this
When, the first I/O port output of microprocessor U1 is high level.
Fig. 2 is referred to, every machinery foot 120 of a plurality of machinery foot 120 includes first the 121, second son of sub- joint
Joint 122 and the sub- joint 123 of third, the first sub- joint 121 are rotatablely connected with the described second sub- joint 122, specifically,
First sub- joint 121 and the second sub- joint 122 are rotated with the directions B shown in Figure 2.The second sub- joint 122 and described the
Three sub- joints 123 are rotatablely connected, and the sub- joint of the second sub- joint 122 and third 123 can be rotated with the directions C shown in Figure 2.The
One sub- joint 121 and the second sub- joint 122 are rotatablely connected, and the second sub- joint 122 is rotatablely connected with the sub- joint 123 of third, a plurality of
Every machinery foot 120 of mechanical foot 120 is rotated by the first sub- joint 121, the second sub- joint 122 and the sub- joint 123 of third
The mode of connection is moved.
Specifically, described every of 120 machinery foot 120 of a plurality of machinery foot further includes the first steering engine (not shown) and the
Two steering engine (not shown), first steering engine are arranged between the described first sub- joint 121 and the second sub- joint 122, and described the
Two steering engines are arranged in the described second sub- joint 122 and third between joint.
First steering engine can not stop to change the angle in 121 or the second sub- joint 122 of the first sub- joint, and the first son is closed
Section 121 or the second sub- joint 122 are fixed with any angle.Similarly, the second steering engine can not stop to change the second sub- joint 122 or the
The angle in three sub- joints 123, and the second sub- joint 122 or the sub- joint of third 123 are fixed with any angle.
Specifically, a plurality of machinery foot 120 includes six machinery foots 120, and the six machinery foot 120 is evenly distributed on
Around the main body 110.
Six machinery foots 120 are evenly distributed on around main body 110, when one or two and main body 110 in six legs
When separation, which still preferably can play the role of support to main body 110.
Specifically, the six machinery foot 120 includes first the 210, second machinery of machinery foot foot 220, third machinery foot
230, the 240, the 5th machinery foot 250 of the 4th machinery foot and the 6th machinery foot 260, the first machinery foot the 210, second machinery foot
220, the 240, the 5th machinery foot 250 of the 230, the 4th machinery foot of third machinery foot and the 6th machinery foot 260 divide along clockwise direction
Cloth refers to Fig. 1 around the main body 110.Six machinery foots 120 specifically include first machinery foot the 210, second machinery foot
220, the 240, the 5th machinery foot 250 of the 230, the 4th machinery foot of third machinery foot and the 6th machinery foot 260, each machine among the above
Tool foot 120 may each comprise three sub- joints and two steering engines.
Specifically, when the first machinery foot 210 is disconnected with the main body 110, the 6th machinery foot 260 is one
Group, the 220, the 4th machinery foot 240 of the second machinery foot is one group, and the 230, the 5th machinery foot 250 of third machinery foot is one
Group, three groups of machinery 120 alternating movements of foot；When the second machinery foot 220 is disconnected with the main body 110, first machinery
The 210, the 4th machinery foot 240 of foot is one group, and the 230, the 6th machinery foot 260 of third machinery foot is one group, and two groups of machinery foots 120 replace
Movement；When the third machinery foot 230 with the main body 110 disconnect when, it is described 4th machinery foot 240 be one group, described second
The 220, the 6th machinery foot 260 of mechanical foot is one group, and the 210, the 5th machinery foot 250 of the first machinery foot is one group, three groups of machineries
120 alternating movements of foot；When the 4th machinery foot 240 is disconnected with the main body 110, the third machinery foot 230 is one group,
The 220, the 6th machinery foot 260 of second machinery foot is one group, and the 210, the 5th machinery foot 250 of the first machinery foot is one group,
Three groups of machinery 120 alternating movements of foot；When the 5th machinery foot 250 is disconnected with the main body 110, the first machinery foot
210, the 4th machinery foot 240 is one group, and the 230, the 6th machinery foot 260 of third machinery foot is one group, and two groups of machinery foots 120 are alternately transported
It is dynamic；When the 6th machinery foot 260 is disconnected with the main body 110, the first machinery foot 210 is one group, second machine
The 220, the 4th machinery foot 240 of tool foot is one group, and the 230, the 5th machinery foot 250 of third machinery foot is one group, three groups of machinery foots
120 alternating movements.When a machinery foot 120 in six machinery foots 120 is disconnected with main body 110, remaining machinery foot 120 is
The movement of the multi-foot robot 10 can preferably be supported.
Specifically, when the adjacent two machinery foot 120 in described six machinery foots 120 is disconnected with the main body 110,
In remaining four machinery foot 120, spaced two machinery foots 120 are one group, two groups of machinery 120 alternating movements of foot.
Fig. 4 is referred to, when the first machinery foot 210 and second mechanical sufficient 220 is disconnected with main body 110, microprocessor U1
It controls the direction that the 6th machinery foot 260 is shown according to arrow D and rotates 30 degree, what control third machinery foot 230 was shown according to the arrow F
Direction rotates 60 degree, and the 4th machinery foot 240 of control rotates 30 degree according to the direction shown in arrow E, and with third machinery foot
230, the 5th machinery foot 250 is one group, and the 240, the 6th machinery foot 260 of the 4th machinery foot is one group, and two groups of machinery foots 120 are alternately transported
It is dynamic.
Fig. 5 is referred to, when the first machinery foot 210 and the 6th mechanical sufficient 260 is disconnected with main body 110, microprocessor U1
It controls the 5th machinery foot 250 and rotates 60 degree according to the direction shown in arrow G, control the second machinery foot 220 is according to shown in arrow H
Direction rotates 60 degree, and with the 220, the 4th machinery foot 240 of the second machinery foot for one group, the 230, the 5th machinery foot of third machinery foot
250 be one group, two groups of machinery 120 alternating movements of foot.
Similarly, when the second machinery foot 220 is disconnected with main body 110 with third machinery foot 230, microcontroller control first
Mechanical foot 210 rotates clockwise 60 degree, and the 4th machinery foot 240 rotates counterclockwise 30 degree, and the 6th machinery foot 260 rotates clockwise
30 degree, then with the 210, the 5th machinery foot 250 of the first machinery foot for one group, the 240, the 6th machinery foot 260 of the 4th machinery foot is
One group, two groups of machinery 120 alternating movements of foot.
When the 4th machinery foot 240 and the 5th machinery foot 250 are disconnected with main body 110, the 6th machinery of microcontroller control
Foot 260 rotates counterclockwise 60 degree, and the first machinery of control foot 210 rotates counterclockwise 30 degree, and third machinery foot 230 rotates clockwise 30
Degree, then with the 220, the 6th machinery foot 260 of the second machinery foot for one group, the first machinery foot 210, third machinery foot 230 are one group,
Two groups of machinery 120 alternating movements of foot.
When the 5th machinery foot 250 and the 6th machinery foot 260 are disconnected with main body 110, the first machinery of microcontroller control
Foot 210 rotates clockwise 60 degree, and the 4th machinery foot 240 rotates counterclockwise 30 degree, and the 6th machinery foot 260 rotates clockwise 30 degree,
Then with second machinery foot the 220, the 4th machinery foot 240 be one group, first machinery foot 210, third machinery foot 230 be one group, two
Group machinery 120 alternating movements of foot.
When the adjacent two machinery foot 120 in six machinery foots 120 is disconnected with main body 110, remaining four machinery foot
In 120, two groups of machinery 120 alternating movements of foot are made in a manner of separately.
Fig. 6 is referred to, when the first machinery foot 210, third machinery foot 230 are disconnected with main body 110, microcontroller control
4th machinery foot 240 is according to 30 degree of angular turn shown in J arrows, angle of the 6th machinery foot 260 of control shown according to I arrows
30 degree of rotation, and with the 240, the 6th machinery foot 260 of the 4th machinery foot for one group, the 220, the 5th machinery foot 250 of the second machinery foot
It is one group, two groups of machinery 120 alternating movements of foot.
Fig. 7 is referred to, when the 220, the 4th machinery foot 240 of the second machinery foot is disconnected with main body 110, microcontroller control
First machinery foot 210 rotates 60 degree according to the direction shown in L arrows, direction of the control third machinery foot 230 shown according to M arrows
30 degree of rotation, the 6th machinery foot 260 of control rotate 30 degree according to the direction shown in K arrows, and with first mechanical sufficient 210, the
Five machinery foots 250 are one group, and the 230, the 6th machinery foot 260 of third machinery foot is one group, two groups of machinery 120 alternating movements of foot.
When the 230, the 5th machinery foot 250 of third machinery foot is disconnected with main body 110, the 6th machinery foot of microcontroller control
260 rotate counterclockwise 60 degree, and the first machinery foot 210 rotates counterclockwise 30 degree, and the 4th machinery foot 240 rotates counterclockwise 30 degree, and
And with the 210, the 4th machinery foot 240 of the first machinery foot for one group, the 230, the 6th machinery foot 260 of third machinery foot is one group, two groups
120 alternating movements of mechanical foot.
When the 210, the 5th machinery foot 250 of the first machinery foot is disconnected with main body 110, the 4th machinery foot of microcontroller control
240 rotate clockwise 60 degree, and third machinery foot 230 rotates clockwise 30 degree, and the 6th machinery foot 260 rotates clockwise 30 degree, and
And with the 220, the 4th machinery foot 240 of the second machinery foot for one group, the 230, the 6th machinery foot 260 of third machinery foot is one group, two groups
120 alternating movements of mechanical foot.
When the 220, the 6th machinery foot 260 of the second machinery foot is disconnected with main body 110, microcontroller controls third machinery foot
230 rotate counterclockwise 60 degree, and the first machinery foot 210 rotates counterclockwise 30 degree, and the 4th machinery foot 240 rotates counterclockwise 30 degree, and
And with the 230, the 5th machinery foot 250 of third machinery foot for one group, the 210, the 4th machinery foot 240 of the first machinery foot is one group, two groups
120 alternating movements of mechanical foot.
Fig. 8 is referred to, Fig. 8 shows what two machinery foots 120 opposite in six machinery foots 120 were disconnected with main body 110
Schematic diagram, specifically, when the 210, the 4th machinery foot 240 of the first machinery foot is disconnected with main body 110, described in microcontroller control
Third machinery foot 230 is rotated in the clockwise direction 30 degree, and the 6th machinery foot 260 of control is rotated in the clockwise direction 30 degree, and
With the 220, the 5th machinery foot 250 of the second machinery foot for one group, the 230, the 6th machinery foot 260 of third machinery foot is one group, two groups of machines
Tool 120 alternating movements of foot.
If the 220, the 5th machinery foot 250 of the second machinery foot is disconnected with main body 110, motion mode and individually lack second
It is identical when mechanical foot 220.
When mechanical foot 120 is when lacking quantity and being more than three, only a multi-foot robots 10 for surplus three machinery sufficient 120 can lead to
It crosses the mode creeped to move, such as makes all machinery foots 120 be directed away from main body by the rotation of the first steering engine, the second steering engine
110 direction movement, then rotates the first steering engine and the second steering engine, to draw between mechanical foot 120 and main body 110 away from
From repetition aforesaid way is to realize creeping for multi-foot robot 10.
Specifically, the resistance value of the first resistor device R1 is 10K Ω.
The resistance value of first resistor device R1 can be 10K Ω, and certainly, the resistance value of first resistor device R1 may be other numbers
Value, it is limitation to the application that the resistance value of first resistor device R1, which should not be construed,.
Specifically, the resistance value of the second resistor R2 is 1K Ω.
The resistance value of second resistor R2 can be 1K Ω, and certainly, the resistance value of second resistor R2 may be other numbers
Value, it is limitation to the application that the specific resistance value of second resistor R2, which should not be construed,.
Specifically, a plurality of machinery foot 120 is detachably connected with the main body 110 by way of magnetic absorption.
A plurality of machinery foot 120 can be detachably connected with main body 110 by way of magnetic absorption, when mechanical foot 120 and
When main body 110 detaches, due to being magnetic absorption mode, so the separation that machinery foot 120 can be agile with main body 110, Bu Huiyou
Tying down to multi-foot robot 10 is caused in machinery foot 120 and the adhesion of main body 110 of disconnection.
The multi-foot robot 10 that the utility model embodiment provides has the beneficial effect that：
Multi-foot robot 10 includes main body 110, a plurality of machinery foot 120, microprocessor U1, accessory power supply VCC, first resistor
Device R1 and second resistor R2, a plurality of machinery foot 120 are detachably connected with main body 110, microprocessor U1, accessory power supply
VCC, first resistor device R1 are arranged at the inside of main body 110, are respectively provided in every machinery foot 120 in a plurality of machinery foot 120
There are second resistor R2, accessory power supply VCC to be connect with the first I/O port of microprocessor U1 by first resistor device R1, the first IO
Port is grounded by second resistor R2.Multi-foot robot 10 it is a plurality of machinery foot 120 in certain detached with 110 structure of main body
When, microprocessor U1 can learn and adjust the motion morphology of remaining several machinery foot 120 immediately, to adapt to mechanical foot 120
Variation and so that multi-foot robot 10 is preferably moved, highly shortened the limit suffered by the scope of activities of robot
System.
To keep the purpose, technical scheme and advantage of the utility model embodiment clearer, above in conjunction with the utility model
Attached drawing in embodiment clearly and completely describes the technical scheme in the embodiment of the utility model, it is clear that retouched
The embodiment stated is the utility model a part of the embodiment, instead of all the embodiments.Usually here described in attached drawing and
The component of the utility model embodiment shown can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of above the embodiments of the present invention to providing in the accompanying drawings is not intended to limit requirement
The scope of the utility model of protection, but it is merely representative of the selected embodiment of the utility model.Based in the utility model
Embodiment, the every other embodiment that those of ordinary skill in the art are obtained without creative efforts, all
Belong to the range of the utility model protection.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
It is in the description of the present invention, it should be noted that term "center", "upper", "lower", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, or
The utility model product using when the orientation or positional relationship usually put, be merely for convenience of description the utility model and letter
Change description, does not indicate or imply the indicated multi-foot robot or element must have a particular orientation, with specific orientation
Construction and operation, therefore should not be understood as limiting the present invention.In addition, term " first ", " second ", " third " etc. are only
It is described for distinguishing, is not understood to indicate or imply relative importance.
In the description of the present invention, it should also be noted that, unless otherwise clearly defined and limited, term " is set
Set ", " installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection,
Or it is integrally connected；It can be mechanical connection, can also be electrical connection；It can be directly connected, intermediary can also be passed through
It is indirectly connected, can be the connection inside two elements.For the ordinary skill in the art, it can be managed with concrete condition
Solve the concrete meaning of above-mentioned term in the present invention.
Claims (10)
1. a kind of multi-foot robot, which is characterized in that the robot includes：Main body, a plurality of mechanical foot, microprocessor, auxiliary
Power supply, first resistor device and second resistor；
The a plurality of machinery foot is detachably connected with the main body, and the microprocessor, accessory power supply, first resistor device are all provided with
It is placed in the inside of the main body, second resistor is both provided in every mechanical foot in a plurality of mechanical foot；
The accessory power supply is connect by the first resistor device with the first I/O port of the microprocessor, the first ends IO
Mouth is grounded by the second resistor.
2. multi-foot robot according to claim 1, which is characterized in that every machinery foot of a plurality of machinery foot wraps
The first sub- joint, the second sub- joint and the sub- joint of third are included, the first sub- joint is connect with the described second sub- articulation,
The second sub- joint is connect with the sub- articulation of the third.
3. multi-foot robot according to claim 2, which is characterized in that every machinery foot of a plurality of machinery foot is also
Including the first steering engine and the second steering engine, first steering engine is arranged between the described first sub- joint and the second sub- joint, institute
The second steering engine is stated to be arranged in the described second sub- joint and third between joint.
4. multi-foot robot according to claim 1, which is characterized in that a plurality of machinery foot includes six machinery foots,
The six machinery foot is evenly distributed on around the main body.
5. multi-foot robot according to claim 4, which is characterized in that it is described six machinery foot include first machinery foot,
Second machinery foot, third machinery foot, the 4th machinery foot, the 5th machinery are enough and the 6th machinery foot, the first machinery foot, second
Mechanical foot, third machinery foot, the 4th machinery foot, the 5th machinery are enough and the 6th machinery foot is distributed in the master along clockwise direction
Around body.
6. multi-foot robot according to claim 5, which is characterized in that
When the first machinery foot is disconnected with the main body, the 6th machinery foot is one group, the second machinery foot, the 4th
Mechanical foot is one group, and the third machinery foot, the 5th machinery foot are one group, the sufficient alternating movement of three groups of machineries；
When the second machinery foot is disconnected with the main body, the first machinery foot, the 4th machinery foot are one group, third machinery
Foot, the 6th machinery foot are one group, the sufficient alternating movement of two groups of machineries；
When third machinery foot is disconnected with the main body, the 4th machinery foot is one group, the second machinery foot, the 6th
Mechanical foot is one group, and the first machinery foot, the 5th machinery foot are one group, the sufficient alternating movement of three groups of machineries；
When the 4th machinery foot is disconnected with the main body, the third machinery foot is one group, the second machinery foot, the 6th
Mechanical foot is one group, and the first machinery foot, the 5th machinery foot are one group, the sufficient alternating movement of three groups of machineries；
When the 5th machinery foot is disconnected with the main body, the first machinery foot, the 4th machinery foot are one group, third machinery
Foot, the 6th machinery foot are one group, the sufficient alternating movement of two groups of machineries；
When the 6th machinery foot is disconnected with the main body, the first machinery foot is one group, the second machinery foot, the 4th
Mechanical foot is one group, and the third machinery foot, the 5th machinery foot are one group, the sufficient alternating movement of three groups of machineries.
7. multi-foot robot according to claim 5, which is characterized in that
When the adjacent two machinery foot in described six mechanical foots is disconnected with the main body, it is left in four mechanical foots, phase
Two machinery foots being mutually spaced are one group, the sufficient alternating movement of two groups of machineries.
8. multi-foot robot according to claim 1, which is characterized in that the resistance value of the first resistor device is 10K Ω.
9. multi-foot robot according to claim 1, which is characterized in that the resistance value of the second resistor is 1K Ω.
10. multi-foot robot according to claim 1, which is characterized in that a plurality of machinery foot passes through with the main body
The mode of magnetic absorption is detachably connected.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107933736A (en) * | 2017-12-07 | 2018-04-20 | 程子铭 | multi-foot robot |
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| CN107933736A (en) * | 2017-12-07 | 2018-04-20 | 程子铭 | multi-foot robot |
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