CN207972691U - A kind of duck foot type multi-foot robot - Google Patents

Abstract

The utility model discloses a kind of duck foot type multi-foot robots, including fuselage and in multiple sufficient leg mechanisms that the fuselage both sides are arranged, the sufficient leg mechanism includes duck foot type support leg and provides the driving portion of driving force when walking for the duck foot type support leg；To solve robot in the prior art when soft, mire road surface is moved, the not strong problem of handling capacity；Multi-foot robot provided by the utility model uses duck foot type support leg, and when road conditions are good, the traveling that duck foot type robot can be rapidly and efficiently, when road conditions are bad, duck foot type support leg can utilize its roomy rubber sole, realize that the stabilization of road passes through.

Description

A kind of duck foot type multi-foot robot

Technical field

The utility model is related to multi-foot robots, and in particular to a kind of duck foot type multi-foot robot.

Background technology

Robot technology is one of scientific and technical significant achievement, nowadays has been widely used for industrial technology, national defense and military Etc. technical fields.And with the progress of science and technology, the research of robot has been not limited solely to the fixed point of structured environment Operation, and be more that direction towards under non-structure environment is developed, this requires robots to have under unstructured moving grids Adaptability and capacity of will.

It is well known that current exploration, tour, reconnaissance robot move mode be mostly it is wheeled or carry out formula, wheeled shifting Motivation structure is higher to the dependency degree of landform, is not suitable for rugged topography operation, not only loses low energy consumption in rugged and soft surface Advantage, or even be difficult to pass through.Although caterpillar type robot can a degree of adaptation soft surface, but still do not have very well Obstacle performance.

When in face of soft, mire road, locomotivity is not strong, and handling capacity is not strong for the robot of the prior art.

Invention content

The purpose of this utility model is to provide a kind of duck foot type multi-foot robots, to solve machine in the prior art People is when mire road surface is moved, the not strong problem of handling capacity.

In order to realize that above-mentioned task, the utility model use following technical scheme：

A kind of duck foot type multi-foot robot, including fuselage and multiple sufficient leg mechanisms in fuselage both sides setting, institute The sufficient leg mechanism stated includes duck foot type support leg and provides the driving portion of driving force when walking for the duck foot type support leg.

Further, the duck foot type support leg is arranged in pairs in the fuselage both sides, the duck described in adjacent two pairs Hand held support leg is staggered.

Further, the duck foot type support leg includes drive rod and by the drive rod and the driving Portion connection sole, the sole include the first sole strut and on the first sole strut multiple second Sole strut, multiple crus secunda ramus volaris profundus bars have angle between any two.

Further, it is also equipped with elastic layer in the side that the sole is contacted with ground.

Further, the drive rod is connect by connecting shaft with the sole, in the outer sheath of the connecting shaft Equipped with torsionspring, one end of the torsionspring is connect with the drive rod, the other end of the torsionspring with it is described The first sole strut connection.

Further, follower lever is also associated between the sole and the driving portion, the follower lever includes The first follower lever and the second follower lever connected by hinged mode, first follower lever connect with the driving portion It connects, the crus secunda ramus volaris profundus bar of second follower lever and the sole is hinged.

Further, the driving portion includes motor, and the input terminal of the motor is connect with encoder, the motor The input terminal of output shaft and retarder connects, and the output shaft of the retarder stretches into the inner ring in bearing block with first bearing and connects It connects, axle sleeve is also equipped on the inner ring of the first bearing.

Further, the axle sleeve is the cylinder that two diameters being coaxially arranged differ, in described two cylinders The outside of junction is also arranged with connector, and the connector of the axle sleeve is mounted on inside the drive rod, the axle sleeve One end is connect with the first follower lever of the duck foot type support leg, and the other end of the axle sleeve is mounted on the first bearing Inner ring in output axis connection with the retarder.

Further, through-hole is offered on the first follower lever top, second is equipped with inside the through-hole Bearing, the axle sleeve stretch into the second bearing.

Further, controller and battery are installed along central axes direction in the fuselage interior, in the fuselage Inside is also equipped with the motor driver with the driving portion cooperation of the sufficient leg mechanism.

The utility model has following technical characterstic compared with prior art:

The duck foot type multi-foot robot is symmetrical arranged using duck foot type support leg in fuselage both sides, when road conditions are good, duck Hand held robot can be rapidly and efficiently traveling, when road conditions are bad, duck foot type support leg can utilize its roomy rubber sole, Realize that the stabilization of road passes through；Every duck's foot shape leg is individually controlled by a DC servo motor, reduces control on the whole Difficulty improves the stability of control system；Airframe structure is simple, and intensity is higher, shock resistance and bruise, and the duck foot type is more Biped robot realize it is simple, conveniently, it is at low cost.

Description of the drawings

Fig. 1 is the overall structure figure of duck foot type multi-foot robot provided by the utility model；

Fig. 2 is duck foot type support leg structure figure provided by the utility model；

Fig. 3 is duck foot type support leg connection diagram provided by the utility model；

Fig. 4 is the driving part structure figure in one embodiment provided by the utility model；

Fig. 5 is the driving part structure figure in another embodiment provided by the utility model；

Fig. 6 is axle sleeve schematic diagram provided by the utility model；

Fig. 7 is the drive rod schematic diagram in one embodiment provided by the utility model；

Fig. 8 is the follower lever schematic diagram in one embodiment provided by the utility model；

Fig. 9 is fuselage schematic diagram provided by the utility model.

Figure label represents：1- fuselages, 2- duck foot type support legs, 3- driving portions, 11- controllers, 12- batteries, 13- motors Driver, 21- drive rods, the first installation parts of 211-, 22- soles, 221- the first sole struts, 222- crus secunda ramus volaris profundus bars, 23- connecting shafts, 24- torsionsprings, 25- elastic layers, 26- follower levers, the first follower levers of 261-, the second follower levers of 262-, 263- Second installation part, 31- encoders, 32- motors, 33- retarders, 34- bearing blocks, 35- first bearings, 36- axle sleeves, 37- connections Part, 38- second bearings, 39- electric machine supports.

Specific implementation mode

In compliance with the above technical solution, as shown in Figures 1 to 9, the utility model discloses a kind of duck foot type multi-foot robot, Including fuselage 1 and the setting of 1 both sides of the fuselage multiple sufficient leg mechanisms, which is characterized in that the sufficient leg mechanism includes Duck foot type support leg 2 and while walking for the duck foot type support leg 2, provide the driving portion 3 of driving force.

As shown in Figure 1, being provided with multiple sufficient leg mechanisms in the fuselage both sides of robot, the number of the foot leg mechanism can be certainly Row setting is provided with 6 sufficient leg mechanisms in 1 both sides of fuselage, forms Hexapod Robot altogether in the present embodiment.

As shown in Figure 1, the foot leg mechanism includes duck foot type support leg 2 and driving portion 3, which is duck foot type branch Support leg 2 provides driving force when walking, and the foot of duck foot type support leg 2 is duck's foot shape, and duck foot type support leg 2 is in driving portion 3 It moves back and forth under driving, so that robot is moved.

The material of duck foot type support leg 2 can be aluminium alloy, steel etc., as a preferred embodiment, select steel for The material of duck foot type support leg 2, impact resistance and have cushioning effect.

The robot mesopodium leg of the prior art is mostly straight legs formula structure, therefore when being moved on soft, mire road surface, Its handling capacity is not strong, can not flexibly be moved on mire ground, and uses duck's foot in the multi-foot robot in this programme The structure of formula support leg 2 realizes passing through for road, therefore in face of the road of mire using the sole that duck's foot support leg 2 is roomy There is stronger handling capacity when face.

Optionally, the duck foot type support leg 2 is arranged in pairs in 1 both sides of fuselage, the duck described in adjacent two pairs Hand held support leg 2 is staggered.

As shown in Figure 1,1 both sides of fuselage be arranged to duck foot type support leg 2, i.e., wrapped per a pair of of duck foot type support leg 2 Two duck foot type support legs 2 positioned at 1 both sides of fuselage are included, to ensure walking that multi-foot robot can be stablized, without Topple over.

As shown in Figure 1, adjacent two pairs of duck foot type support leg 2 is staggered, the support of one of first row duck foot type The distance of the second row duck foot type support leg 2 of leg 2 and therewith homonymy to 1 central axes of fuselage is different, i.e., in 1 both sides pair of fuselage Setting is spaced between other duck foot type support legs 2 positioned at homonymy for claiming each duck foot type support leg 2 of setting adjacent thereto, So that multiple duck foot type support legs 2 will not interfere with each other during exercise.

Optionally, the duck foot type support leg 2 include drive rod 21 and by the drive rod 21 with it is described The sole 22 that driving portion 3 connects, the sole 22 is including the first sole strut 221 and is mounted on the first sole strut Multiple crus secunda ramus volaris profundus bars 222 on 221, multiple crus secunda ramus volaris profundus bars 222 have angle between any two.

As shown in Fig. 2, duck foot type support leg 2 includes drive rod 21 and sole 22, bottom end and the sole 22 of drive rod 21 connect It connects, the top of drive rod 21 is connect with driving portion 3, and wherein sole 22 is duck foot type structure, and sole 22 includes first sole Strut 221 and multiple crus secunda ramus volaris profundus bars 222, the quantity of crus secunda ramus volaris profundus bar 222 can be according to the scale of duck foot type robot And the pavement behavior sets itself faced.

In the present embodiment, sole 21 include a first sole strut 221 and three crus secunda ramus volaris profundus bars 222, three The length of a crus secunda ramus volaris profundus bar 222 is consistent, and the cross section of the first sole strut 221 and crus secunda ramus volaris profundus bar 222 is square Shape.

As shown in Fig. 2, one end of multiple crus secunda ramus volaris profundus bars 222 is installed on the first sole strut 221, in this implementation In example, one end of three crus secunda ramus volaris profundus bars 222 is installed on the first sole strut 221, three 222 liang of crus secunda ramus volaris profundus bars Angle is all had between two, therefore the shape of sole 21 is a pentagon.

Optionally, the drive rod 21 is connect by connecting shaft 23 with the sole 22, in the connecting shaft 23 Outer sheath is equipped with torsionspring 24, and one end of the torsionspring 24 is connect with the drive rod 21, the torsionspring 24 The other end connect with the first sole strut 221.

To make drive rod 21 and sole 22 keep plumbness in the case of not by external force, drive rod 21 and sole 22 it Between be not only attached by connecting shaft 23, as shown in figure 3, being also arranged with torsionspring 24 in the outside of connecting shaft 23, and drive Lever 21 can drive the rear end of sole 2 to be moved under the action of driving portion 3, to realize the work(of multi-foot robot walking Energy.

In the present embodiment, the bearing position of torsionspring 24 is 90 °, and rotation direction is dextrorotation, one end of torsionspring 24 with It is connect with drive rod 21 perpendicular to the direction of horizontal plane, the other end of torsionspring 24 is to be parallel to direction and the sole of horizontal plane 21 the first sole strut 221 connection.

Optionally, it is also equipped with elastic layer 25 in the side that the sole 22 is contacted with ground.

As shown in Figure 2,3, to make sole 22 that there is good handling capacity on heavy road face, on sole 22 and ground The side of contact is also equipped with elastic layer 25, which can be the soft elastos material such as rubber, elastomer, as one Kind preferred embodiment, the elastic layer 25 choose natural rubber material.

Optionally, follower lever 26, the follower lever are also associated between the sole 22 and the driving portion 3 26 include the first follower lever 261 and the second follower lever 262 connected by hinged mode, described first follower lever 261 with The driving portion 3 connects, and the crus secunda ramus volaris profundus bar 222 of second follower lever 262 and the sole 22 is hinged.

As shown in Fig. 2, to make duck foot type multi-foot robot when walking, sole 22 and the angle of drive rod 21 can maintain 90 ° are constant, and to provide the firm support to robot, follower lever 26 is also provided between sole 23 and driving portion 3, from Lever 26 divides the first follower lever 261 and hinged with the crus secunda ramus volaris profundus bar 222 of sole 22 second to be connect with driving portion 3 Follower lever 262, and the first follower lever 261 and the second follower lever 262 are also hinged.Therefore, duck foot type multi-foot robot exists From sole, all contact ground are to during liftoff for leg, and driving portion 3 gives the power of the rotation of drive rod 21, so that drive rod 21 It drives the rear end of sole 22 to be moved, while lifting with 22 rear end of sole, drives 22 front end of sole, to drive second Follower lever 262 and the first follower lever 261 bring it about relative rotation, eliminate " dead point " position；In leg from liftoff complete to sole During portion contacts ground, under the reset response of torsionspring, the first, second follower lever is conllinear, to realize in machinery " dead point ".

In addition, the length of crus secunda ramus volaris profundus bar need to meet so that the first follower lever and the second follower lever be not by the feelings of external force It is conllinear under condition, to ensure dead-centre position.

Therefore, duck foot type support leg 2 can regard a four-bar mechanism as, and due to the first follower lever 261 and second Follower lever 262 is conllinear, therefore dead-centre position is under free state.In this way, starting to contact ground to all contacts in sole 22 During ground, four bar relative positions will not change.When sole 22 gradually leaves ground in the case where the rotation of drive rod 21 drives During face, drive rod 21 and the angle of sole 22 are reduced by 90 °, while dead-centre position releases, when sole 22 leaves completely Behind ground, under the reset response of torsionspring 24, drive rod 21 and the angle of sole 22 revert to 90 °, are formed simultaneously dead point Position enters in the movement of subsequent cycle.

Optionally, the driving portion 3 includes motor 32, and the input terminal of the motor 32 is connect with encoder 31, described The output shaft of motor 32 is connect with the input terminal of retarder 33, and the output shaft of the retarder 33 stretches into bearing block 34 with first The inner ring of bearing 35 connects, and axle sleeve 36 is also equipped on the inner ring of the first bearing 35.

As shown in figure 4, in the present embodiment, the core of driving portion 3 is motor 32, and the output axis connection of motor 32 is slowed down The input of device 33 is provided with retarder 33 by the output shaft in motor 32 so that it is increased by the rotatory force that motor 32 exports, with Duck foot type support leg 2 is driven to be moved；To monitor the rotating speed of motor 32, encoder 31 is added in the input terminal of motor 32.

In addition, since motor 32 and retarder 33 will produce vibrations in the process of work, in the outer of motor 32 Side adds electric machine support 39, as shown in figure 5, motor 32 and retarder 33 are mounted on the inside of electric machine support 39 with fixation The position of motor 32 and retarder 33.

Optionally, the axle sleeve 36 is the cylinder that two diameters being coaxially arranged differ, in described two cylinders The outside of junction is also arranged with connector 37, and the connector 37 of the axle sleeve 36 is mounted on the top of the drive rod 21, institute The one end for the axle sleeve 36 stated is connect with the first follower lever 221 of the duck foot type support leg 2, the other end of the axle sleeve 36 In the inner ring of the first bearing 35 with the output axis connection of the retarder 33.

As shown in figure 4, for the length of 33 output shaft of prolonged deceleration device, axle sleeve 36 is installed on the inner ring of bearing 35, such as Shown in Fig. 6, the structure of axle sleeve 36 is the cylinder that two diameters being coaxially arranged differ, the outside two cylinder junctions It is arranged with connector 37, the cross section of the connector 37 can be rectangle, circle etc., as a preferred embodiment, being It is cylinder to coordinate the rotation of axle sleeve 36, the connector 37, and 33 output shaft of retarder stretches into the smaller one end of 36 diameter of axle sleeve and connects It connects, one end that axle sleeve 36 is relatively large in diameter is connect with the first follower lever 221 of duck foot type support leg 2, the output shaft band of retarder 33 Moving axis set 36 is rotated in bearing 35, and the connector of axle sleeve 36 is mounted on 21 top of drive rod, specifically, as shown in fig. 7, By the way that the first installation part 211 with mounting hole is arranged on 36 length direction of axle sleeve in 21 upper end of drive rod, in this reality It applies in example, 21 upper end of drive rod is provided with the installation part 211 of cylinder, and mounting hole, axle sleeve are offered in the installation part 211 Connector 37 on 36 is fixed in mounting hole 211, when axle sleeve 36 is rotated with the output shaft of retarder 33, simultaneously Also drive rod 21 is driven to be rotated, it is achieved that driving drive rod 21 to be rotated by motor 32.

Steel may be used in bearing 35, bearing block 34, axle sleeve 36, connector 37, drive rod 21, follower lever 26, aluminium alloy is made For material, as a preferred embodiment, mitigating the weight of robot as material using aluminium alloy.

Optionally, through-hole is offered on 261 top of the first follower lever, second is equipped with inside the through-hole Bearing 38, the axle sleeve 36 stretch into the second bearing 38.

As shown in figure 8, to make driving portion 3 when driving drive rod 21 to move, follower lever 26 is not with the axle sleeve of driving portion 3 36 are rotated, ensure duck foot type robot can normal walking, on the top for the first follower lever 261 being connect with driving portion 3 Through-hole is offered, second bearing 38 is provided in through-hole, axle sleeve 36 stretches into second bearing 38, therefore axle sleeve 36 is only capable of It is rotated on the inner ring of two bearings 38, and the first follower lever 261 installed on the outer ring of second bearing 38 then will not be therewith Rotation.As shown in figure 8, in the present embodiment, the second installation part with through-hole is provided on the top of the first follower lever 261 263, second bearing 38 is installed in the through-hole of the second installation part 263, second bearing is stretched into one end that axle sleeve 36 is relatively large in diameter In 38, therefore axle sleeve 36 is for follower lever 26, only play the role of one it is fixed, it is any without being exported to follower lever 26 Power.

Optionally, controller 11 and battery 12 are installed along central axes direction inside the fuselage 1, in the machine The motor driver 13 coordinated with the driving portion 3 of the sufficient leg mechanism is also equipped with inside body 1.

As shown in figure 9, controller 11 controls sufficient leg mechanism carry out activity by motor driver 13, battery 12 is polypody machine Device people provides electric power, controller 11 and battery 12 is mounted on along the central axes of fuselage 1 inside fuselage 1, to ensure robot When walking, the projection of center of gravity is fallen in Delta Region, by taking Hexapod Robot as shown in Figure 1 as an example, by controller 11 with And battery 12 along fuselage 1 central axes install, Hexapod Robot when walking, center of gravity projection fall three formed in three legs Inside angular zone.

Controller 11 can be microcontroller, ARM etc., in the present embodiment, select STM32 core boards as controller 11, And the communication of entire robot is completed using CAN bus.

The material of fuselage 1 can be steel, aluminium alloy, carbon fiber etc., use carbon fiber as fuselage 1 in the present embodiment Material mitigates the weight of robot while with higher-strength.

Claims (10)

1. a kind of duck foot type multi-foot robot, including fuselage (1) and multiple sufficient leg machines in the setting of the fuselage (1) both sides Structure, which is characterized in that the sufficient leg mechanism includes duck foot type support leg (2) and goes for the duck foot type support leg (2) The driving portion (3) of driving force is provided when walking.

2. duck foot type multi-foot robot as described in claim 1, which is characterized in that the duck foot type support leg (2) is in institute Fuselage (1) both sides stated are arranged in pairs, and the duck foot type support leg (2) described in adjacent two pairs is staggered.

3. duck foot type multi-foot robot as described in claim 1, which is characterized in that the duck foot type support leg (2) includes Drive rod (21) and the sole (22) being connect with the driving portion (3) by the drive rod (21), the sole (22) include the first sole strut (221) and multiple crus secunda ramus volaris profundus bars on the first sole strut (221) (222), multiple crus secunda ramus volaris profundus bars (222) have angle between any two.

4. duck foot type multi-foot robot as claimed in claim 3, which is characterized in that contacted with ground in the sole (22) Side be also equipped with elastic layer (25).

5. duck foot type multi-foot robot as claimed in claim 3, which is characterized in that the drive rod (21) passes through connecting shaft (23) it is connect with the sole (22), torsionspring (24), the torsion bullet is equipped in the outer sheath of the connecting shaft (23) One end of spring (24) is connect with the drive rod (21), the other end of the torsionspring (24) and the first sole branch Bar (221) connects.

6. duck foot type multi-foot robot as claimed in claim 3, which is characterized in that the sole (22) and the driving Be also associated with follower lever (26) between portion (3), the follower lever (26) include connected by hinged mode it is first driven Bar (261) and the second follower lever (262), first follower lever (261) are connect with the driving portion (3), and described the Two follower levers (262) and the crus secunda ramus volaris profundus bar (222) of the sole (22) are hinged.

7. duck foot type multi-foot robot as claimed in claim 3, which is characterized in that the driving portion (3) includes motor (32), the input terminal of the motor (32) is connect with encoder (31), output shaft and the retarder (33) of the motor (32) Input terminal connects, and the output shaft of the retarder (33) stretches into bearing block (34) to be connect with the inner ring of first bearing (35), It is also equipped with axle sleeve (36) on the inner ring of the first bearing (35).

8. duck foot type multi-foot robot as claimed in claim 7, which is characterized in that the axle sleeve (36) is coaxially arranged The cylinder that two diameters differ also is arranged with connector (37), the axle sleeve in the outside of described two cylinder junctions (36) connector (37) is mounted on the drive rod (21) inside, one end of the axle sleeve (36) and the duck foot type branch The first follower lever (261) of support leg (2) connects, and the other end of the axle sleeve (36) is mounted on the interior of the first bearing (35) The interior output axis connection with the retarder (33) of circle.

9. duck foot type multi-foot robot as claimed in claim 8, which is characterized in that pushed up in first follower lever (261) End offers through-hole, and second bearing (38) is equipped with inside the through-hole, and the axle sleeve (36) stretches into described second In bearing (38).

10. duck foot type multi-foot robot as described in claim 1, which is characterized in that internal along central axes in the fuselage (1) Direction is equipped with controller (11) and battery (12), is also equipped with inside the fuselage (1) and the sufficient leg mechanism The motor driver (13) of driving portion (3) cooperation.