CN208181244U - A kind of multivariant hexapod robot - Google Patents
A kind of multivariant hexapod robot Download PDFInfo
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- CN208181244U CN208181244U CN201820716768.2U CN201820716768U CN208181244U CN 208181244 U CN208181244 U CN 208181244U CN 201820716768 U CN201820716768 U CN 201820716768U CN 208181244 U CN208181244 U CN 208181244U
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- electric putter
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- 241000238631 Hexapoda Species 0.000 title claims abstract description 27
- 230000007246 mechanism Effects 0.000 claims abstract description 134
- 238000009434 installation Methods 0.000 claims description 15
- 230000005611 electricity Effects 0.000 claims description 6
- 238000000465 moulding Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 abstract description 3
- 210000002414 leg Anatomy 0.000 description 29
- 238000010586 diagram Methods 0.000 description 7
- 210000000689 upper leg Anatomy 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Abstract
The utility model discloses a kind of multivariant hexapod robot, including fuselage ring, three groups of horizontal push mechanisms, the big leg mechanism of six machinery, the small leg mechanism of six machinery and six GeTXing bindiny mechanisms.The multivariant hexapod robot carry out wobble drive to six pedipulators respectively by six electric putter mechanisms of three groups of horizontal push mechanisms, realize the horizontal hunting of pedipulator, and realized by T-type bindiny mechanism and swing transmission；Driving mechanism used in multivariant hexapod robot all uses the identical electric putter mechanism of structure, realize that the walking motion of six legs drives using total 18 modular electric putter mechanisms, when carrying out travelling control only need to the electric pushrod to this 18 electric putter mechanisms controlled respectively, driver is close, can be obviously shortened the program development period.
Description
Technical field
The utility model relates to a kind of robot, especially a kind of multivariant hexapod robot.
Background technique
Currently, wheeled robot and caterpillar type robot can show good locomitivity on flat ground,
But on non-flat forms, non-structured ground, wheeled and caterpillar type robot locomitivity cannot play well, very
It can not all walk to some landform.Legged type robot be especially multivariant hexapod robot can be good at overcoming it is wheeled and
The disadvantages mentioned above of caterpillar type robot can be realized and realize in complicated, non-structured ground environment and steadily walk.Mostly certainly
It is a kind of common bionic type robot product by the hexapod robot spent.Existing multivariant hexapod robot will be realized
Complicated movement, overall structure is complex, and manufacturing cost is higher.It is therefore desirable to design a kind of versatile module
Change and assembles multivariant hexapod robot.
Utility model content
Purpose of utility model: provide it is a kind of it is versatile can modularization assembling multivariant hexapod robot.
Technical solution: multivariant hexapod robot described in the utility model, including fuselage ring, three groups of levels push away
Linkage, the big leg mechanism of six machinery, the small leg mechanism of six machinery and six GeTXing bindiny mechanisms；
Three groups of horizontal push are inter-agency every being mounted on fuselage ring, and every group of horizontal push mechanism includes that two electricity push away
Linkage and a pusher bar support；Pusher bar support is fixedly mounted on fuselage ring；Two electricity of every group of horizontal push mechanism push away
Linkage is hingedly mounted on corresponding pusher bar support；
Six GeTXing bindiny mechanisms are respectively articulated in the left and right side edge for being mounted on fuselage ring；Three groups of horizontal push mechanisms
Side of the telescopic end respectively with six GeTXing bindiny mechanisms of six electric putter mechanisms be hinged；
Six big leg mechanisms of machinery include Liang Ge electric putter mechanism, and the telescopic end and T of one of electric putter mechanism
The other side of type bindiny mechanism is hinged, and the telescopic end of another electric putter mechanism and the upper end of mechanical small leg mechanism are mutually cut with scissors
It connects.
Further, fuselage ring includes the side frame of left and right sides and is connected laterally between the side frame of left and right sides
Connecting cross beam；Side frame is an integral molding structure with connecting cross beam；Three are transversely provided on side frame for hinged installation T-type
The lateral rectangular opening of bindiny mechanism；Three vertical pin shafts are provided through on side frame and at three lateral rectangular openings
Hole.
Further, pusher bar support includes two transverse bars and a vertical bar；Two transverse bars are transversely mounted respectively
In the upper and lower sides corresponding position of the side frame of left and right sides；Vertical bar is mounted vertically between two transverse bars, and is located at laterally
The middle position of bar；Liang Ge electric putter mechanism, which is respectively articulated with, to be mounted between two transverse bars up and down, and is located at vertical bar
The left and right sides.
Further, electric putter mechanism includes electric pushrod, U-shaped plug and is hingedly mounted on U-shaped plug two sides yoke
On push rod articulated shaft；Two short axles for hingedly installing are symmetrically arranged on the outer wall of electric pushrod；U-shaped plug is fixed
It is mounted on the telescopic end of electric pushrod.
Further, T-type bindiny mechanism includes integrally formed lateral swing rod and vertical swing rod；One end of lateral swing rod is solid
Dingan County is mounted in the middle part of vertical swing rod；Hinged mounting hole is equipped in the other end of lateral swing rod；It is vertical at the middle part of lateral swing rod
Hinged shaft is rotatably installed；An end hinge hole, and the center of end hinge hole are equipped at the both ends of vertical swing rod
Line and the axial line of hinged shaft are perpendicular；Lateral swing rod runs through lateral rectangular opening, and the upper and lower ends of hinged shaft are respectively articulated with
It is mounted on vertical pin shaft hole；The push rod articulated shaft of the electric putter mechanism of horizontal push mechanism is hingedly mounted on hinged mounting hole
On.
Further, mechanical big leg mechanism further includes that two parallelogram frames and two are fixedly mounted on two in parallel
Steady brace between quadrangle frame；The Liang Ge electric putter mechanism of mechanical big leg mechanism is hingedly mounted on two by short axle and puts down
Between row quadrilateral frame, and the telescopic direction of Liang Ge electric putter mechanism is opposite；One end hinge hole of vertical swing rod is hingedly pacified
On the push rod articulated shaft of an electric putter mechanism of mechanical big leg mechanism；Another end hinge hole of vertical swing rod passes through
Fixed pin shaft is hingedly mounted on two parallelogram frames.
Further, mechanical small leg mechanism includes upper strut, pressure sensor and hemispherical footing；The upper end of upper strut
Portion is equipped with upper hinge hole and lower hinge hole；Upper hinge hole is hingedly mounted on two parallelogram frames by fixed pin shaft, under
Hinge hole is hingedly mounted on the push rod articulated shaft of another electric putter mechanism of mechanical big leg mechanism；The fixed peace of pressure sensor
On the lower end of upper strut；Hemispherical footing is fixedly mounted on the lower end of pressure sensor.
Further, hinged installation is realized by hinged seat in the both ends of fixed pin shaft, and realizes fixed pin by locking anchor ear
It locks at the both ends of axis；Hinged peace is realized by hinged seat in the both ends of two short axles and push rod articulated shaft on electric pushrod
Dress；Hinged seat includes mounting seat, bearing and circlip；It is equipped with bearing mounting hole in mounting seat and two are used to install
The fixed installation circular hole of hinged seat；Bearing limits bearing in bearing mounting hole, and by circlip.
Further, limit threaded hole is equipped in the middle part of fixed pin shaft and push rod articulated shaft；Hinge hole, hinge in end
Connect that mounting hole, equal threaded engagement is equipped with a caging bolt, and the end of caging bolt at upper hinge hole and lower hinge hole
The limit threaded hole in each hole with corresponding position is respectively protruding into mutually to screw.
Further, a lifting lug is equipped at the both ends of side frame.
The utility model compared with prior art, the beneficial effect is that: pushed away by six electricity of three groups of horizontal push mechanisms
Linkage carries out wobble drive to six pedipulators respectively, realizes the horizontal hunting of pedipulator, and realized and put by T-type bindiny mechanism
Dynamic transmission；By respective Liang Ge electric putter mechanism on six big leg mechanisms of machinery realize respectively the swing of mechanical big leg mechanism with
And the swing of mechanical small leg mechanism；Driving mechanism used in multivariant hexapod robot all uses structure identical
Electric putter mechanism realizes that the walking motion of six legs drives using total 18 modular electric putter mechanisms, is being gone
Walk when controlling only need to the electric pushrod to this 18 electric putter mechanisms controlled respectively, driver is close, energy
Enough it is obviously shortened the program development period；The pressure detecting that each sufficient end is realized using pressure sensor, is facilitated and realizes stability inspection
Observing and controlling system.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the fuselage ring structural schematic diagram of the utility model；
Fig. 3 is the electric putter mechanism structure schematic diagram of the utility model；
Fig. 4 is the mechanical thigh mechanism structure schematic diagram of the utility model；
Fig. 5 is the T-type bindiny mechanism structural schematic diagram of the utility model；
Fig. 6 is the mechanical shank mechanism structure schematic diagram of the utility model；
Fig. 7 is the hinge base structure schematic diagram of the utility model.
Specific embodiment
Technical solutions of the utility model are described in detail with reference to the accompanying drawing, but the protection scope of the utility model
It is not limited to the embodiment.
Embodiment 1:
As shown in figs. 1-7, multivariant hexapod robot described in the utility model include: 1, three group of water of fuselage ring
The small leg mechanism 4 of flat-pushing linkage, six machinery 3, six machinery of big leg mechanism and six GeTXing bindiny mechanisms 6；
Three groups of horizontal push are inter-agency every being mounted on fuselage ring 1, and every group of horizontal push mechanism includes two electricity
Transfer bar mechanism 2 and a pusher bar support 5；Pusher bar support 5 is fixedly mounted on fuselage ring 1；The two of every group of horizontal push mechanism
A electric putter mechanism 2 is hingedly mounted on corresponding pusher bar support 5；
Six GeTXing bindiny mechanisms 6 are respectively articulated in the left and right side edge for being mounted on fuselage ring 1；Three groups of horizontal push machines
Side of the telescopic end of six electric putter mechanisms 2 of structure respectively with six GeTXing bindiny mechanisms 6 is hinged；
The big leg mechanism 3 of six machinery includes Liang Ge electric putter mechanism 2, and the telescopic end of one of electric putter mechanism 2
It is hinged with the other side of T-type bindiny mechanism 6, the upper end of the telescopic end of another electric putter mechanism 2 and mechanical small leg mechanism 4
It is hinged.
Further, the side frame 7 of fuselage ring 1 including left and right sides and be connected laterally at left and right sides side frame 7 it
Between connecting cross beam 11；Side frame 7 is an integral molding structure with connecting cross beam 11；Three are transversely provided on side frame 7 to be used for
The lateral rectangular opening 9 of hinged installation T-type bindiny mechanism 6；On side frame 7 and it is located at three lateral rectangular openings 9 through setting
There are three vertical pin shaft holes 10；Lightening hole is equipped on side frame 7 and connecting cross beam 11.Using side frame 7 with connect cross
Beam 11 is integrally formed, it can be ensured that structural strength.
Further, pusher bar support 5 includes two transverse bars 12 and a vertical bar 13；Two transverse bars 12 are horizontal respectively
To the upper and lower sides corresponding position for the side frame 7 for being mounted on left and right sides；Vertical bar 13 is mounted vertically between two transverse bars 12,
And it is located at the middle position of transverse bar 12；Liang Ge electric putter mechanism 2, which is respectively articulated with, to be mounted between two transverse bars 12 up and down,
And it is located at the left and right sides of vertical bar 13.Support between two transverse bars 12 is realized using vertical bar 13, while can be to two
A electric putter mechanism 2 carries out limit isolation, prevents to collide.
Further, electric putter mechanism 2 includes electric pushrod 15, U-shaped plug 17 and is hingedly mounted on 17 liang of U-shaped plug
Push rod articulated shaft 18 on the yoke of side；Two short axles for hingedly installing are symmetrically arranged on the outer wall of electric pushrod 15
16；U-shaped plug 17 is fixedly mounted on the telescopic end of electric pushrod 15.The hinged peace of electric pushrod 15 is realized using short axle 16
Dress；It can be realized the hinged installation of 15 retractable ends of electric pushrod using U-shaped plug 17 and push rod articulated shaft 18.
Further, T-type bindiny mechanism 6 includes integrally formed lateral swing rod 24 and vertical swing rod 23；Lateral swing rod 24
One end be fixedly mounted on the middle part of vertical swing rod 23；Hinged mounting hole 28 is equipped in the other end of lateral swing rod 24；In transverse direction
The middle part of swing rod 24 is vertically rotatably equipped with hinged shaft 27；An end hinge hole is equipped at the both ends of vertical swing rod 23
26, and the center line of end hinge hole 26 and the axial line of hinged shaft 27 are perpendicular；Lateral swing rod 24 runs through lateral rectangular opening
9, the upper and lower ends of hinged shaft 27, which are respectively articulated with, to be mounted on vertical pin shaft hole 10；The electric putter mechanism 2 of horizontal push mechanism
Push rod articulated shaft 18 be hingedly mounted on hinged mounting hole 28.Horizontal push mechanism and machinery are connected by T-type bindiny mechanism 6
Big leg mechanism 3, realizes wobble drive when walking, while also well realizing the hinge of mechanical big leg mechanism 3 and fuselage ring 1
Installation is connect, the support demand of each mechanical big leg mechanism 3 is met.
Further, mechanical big leg mechanism 3 further includes that two parallelogram frames 20 and two are fixedly mounted on two
Steady brace 21 between parallelogram frame 20；The Liang Ge electric putter mechanism 2 of mechanical big leg mechanism 3 is hinged by short axle 16
It is mounted between two parallelogram frames 20, and the telescopic direction of Liang Ge electric putter mechanism 2 is opposite；One of vertical swing rod 23
End hinge hole 26 is hingedly mounted on the push rod articulated shaft 18 of an electric putter mechanism 2 of mechanical big leg mechanism 3；Vertical swing rod
23 another end hinge hole 26 is hingedly mounted on two parallelogram frames 20 by fixed pin shaft 40.Mechanical thigh machine
The Liang Ge electric putter mechanism 2 of structure 3 is parallel installation up and down, using parallel installation, can be very good to reduce mechanical big leg mechanism 3
Size, and power transmitting is good.
Further, mechanical small leg mechanism 4 includes upper strut 29, pressure sensor 33 and hemispherical footing 32；Upper support
The upper end of bar 29 is equipped with upper hinge hole 30 and lower hinge hole 31；Upper hinge hole 30 is hingedly mounted on two by fixed pin shaft 40
On parallelogram frame 20, lower hinge hole 31 is hingedly mounted on the push rod hinge of another electric putter mechanism 2 of mechanical big leg mechanism 3
In spindle 18；Pressure sensor 33 is fixedly mounted on the lower end of strut 29；Hemispherical footing 32 is fixedly mounted on pressure
On the lower end of sensor 33.It can satisfy the support demand of all angles using hemispherical footing 32, versatility is stronger, can be with
Better adaptation to the ground.
Further, hinged installation is realized by hinged seat 14 in the both ends of fixed pin shaft 40, and is realized by locking anchor ear 22
It locks at the both ends of fixed pin shaft 40；The both ends of two short axles 16 and push rod articulated shaft 18 on electric pushrod 15 pass through hingedly
Seat 14 realizes hinged installation；Hinged seat 14 includes mounting seat 35, bearing 38 and circlip 39；Axis is equipped in mounting seat 35
Mounting hole 36 and two are held for installing the fixed installation circular hole 37 of hinged seat 14；Bearing 38 is embedded in bearing mounting hole 36,
And bearing 38 is limited by circlip 39.The hinged installation that each spindle nose is realized using modular hinged seat 14, can facilitate peace
Dress and maintenance, versatility are stronger；The both ends of fixed pin shaft 40 are fixed using locking anchor ear 22, it is ensured that fixed pin shaft 40 is pacified
Stability after dress.
Further, limit threaded hole 19 is equipped at the middle part of fixed pin shaft 40 and push rod articulated shaft 18；It is cut with scissors in end
Connect that hole 26, hinged mounting hole 28, equal threaded engagement is equipped with a caging bolt 25 at upper hinge hole 30 and lower hinge hole 31,
And 19 phase of limit threaded hole that the end of caging bolt 25 is respectively protruding into each hole with corresponding position screws.Using limit spiral shell
The cooperation of pit 19 and caging bolt 25 can be realized the fixation of hole position on fixed pin shaft 40 and push rod articulated shaft 18, prevent
Hole is along axis play, it is ensured that the stability at joint of robot swing.
Further, a lifting lug 8 is equipped at the both ends of side frame 7.Realization multiple degrees of freedom can be facilitated using lifting lug 8
Hexapod robot hoisting transportation, facilitate whole Transporting to use.
Multivariant hexapod robot described in the utility model when in use, pass through the six of three groups of horizontal push mechanisms
A electric putter mechanism 2 carries out wobble drive to six pedipulators respectively, realizes the horizontal hunting of pedipulator, and connect machine by T-type
Structure 6, which is realized, swings transmission；Mechanical thigh is realized respectively by respective Liang Ge electric putter mechanism 2 on the big leg mechanism 3 of six machinery
The swing of mechanism 3 and the swing of mechanical small leg mechanism 4；Driving mechanism used in multivariant hexapod robot is whole
Using the identical electric putter mechanism 2 of structure, realize that the walking of six legs is dynamic using total 18 modular electric putter mechanisms 2
Drive, when carrying out travelling control only need to the electric pushrod 15 to this 18 electric putter mechanisms 2 controlled respectively i.e.
Can, driver is close, can be obviously shortened the program development period；Realize that the pressure at each sufficient end is examined using pressure sensor 33
It surveys, facilitates and realize Detection of Stability control.
As described above, although the utility model has been indicated and described referring to specific preferred embodiment, it must not
It is construed to the limitation to the utility model itself.In the spirit and scope for not departing from the utility model that appended claims define
Under the premise of, it can various changes can be made in the form and details to it.
Claims (10)
1. a kind of multivariant hexapod robot, it is characterised in that: including fuselage ring (1), three groups of horizontal push mechanisms, six
A mechanical big leg mechanism (3), six small leg mechanisms of machinery (4) and six GeTXing bindiny mechanisms (6)；
Three groups of horizontal push are inter-agency every being mounted on fuselage ring (1), and every group of horizontal push mechanism includes that two electricity push away
Linkage (2) and a pusher bar support (5)；Pusher bar support (5) is fixedly mounted on fuselage ring (1)；Every group of horizontal push machine
The Liang Ge electric putter mechanism (2) of structure is hingedly mounted on corresponding pusher bar support (5)；
Six GeTXing bindiny mechanisms (6) are respectively articulated in the left and right side edge for being mounted on fuselage ring (1)；Three groups of horizontal push machines
Side of the telescopic end of six electric putter mechanisms (2) of structure respectively with six GeTXing bindiny mechanisms (6) is hinged；
Six big leg mechanisms of machinery (3) include Liang Ge electric putter mechanism (2), and one of electric putter mechanism (2) is flexible
It holds and is hinged with the other side of T-type bindiny mechanism (6), the telescopic end of another electric putter mechanism (2) and mechanical small leg mechanism (4)
Upper end be hinged.
2. multivariant hexapod robot according to claim 1, it is characterised in that: fuselage ring (1) includes left and right
The side frame (7) of side and the connecting cross beam (11) being connected laterally between the side frame (7) of left and right sides；Side frame (7) and company
Crossbeam (11) is connect to be an integral molding structure；Three are transversely provided on side frame (7) for hingedly installing T-type bindiny mechanism (6)
Lateral rectangular opening (9)；Three vertical pin shafts are provided through on side frame (7) and at three lateral rectangular openings (9)
Hole (10).
3. multivariant hexapod robot according to claim 2, it is characterised in that: pusher bar support (5) includes two
Transverse bar (12) and a vertical bar (13)；Two transverse bars (12) are transversely mounted on the side frame (7) of left and right sides respectively
Upper and lower sides corresponding position；Vertical bar (13) is mounted vertically between two transverse bars (12), and is located in transverse bar (12)
Between at position；Liang Ge electric putter mechanism (2), which is respectively articulated with, to be mounted between two transverse bars (12) up and down, and is located at vertical bar
(13) the left and right sides.
4. multivariant hexapod robot according to claim 3, it is characterised in that: electric putter mechanism (2) includes electricity
Dynamic push rod (15), U-shaped plug (17) and the push rod articulated shaft (18) being hingedly mounted on the yoke of U-shaped plug (17) two sides；?
Two short axles (16) for hingedly installing are symmetrically arranged on the outer wall of electric pushrod (15)；U-shaped plug (17) is fixedly mounted
On the telescopic end of electric pushrod (15).
5. multivariant hexapod robot according to claim 4, it is characterised in that: T-type bindiny mechanism (6) includes one
Body formed lateral swing rod (24) and vertical swing rod (23)；One end of lateral swing rod (24) is fixedly mounted on vertical swing rod (23)
Middle part；Hinged mounting hole (28) are equipped in the other end of lateral swing rod (24)；It is vertically rotary at the middle part of lateral swing rod (24)
Hinged shaft (27) are installed；An end hinge hole (26), and end hinge hole are equipped at the both ends of vertical swing rod (23)
(26) center line and the axial line of hinged shaft (27) are perpendicular；Lateral swing rod (24) runs through lateral rectangular opening (9), hinged to turn
The upper and lower ends of axis (27), which are respectively articulated with, to be mounted on vertical pin shaft hole (10)；The electric putter mechanism (2) of horizontal push mechanism
Push rod articulated shaft (18) is hingedly mounted on hinged mounting hole (28).
6. multivariant hexapod robot according to claim 5, it is characterised in that: mechanical big leg mechanism (3) also wraps
Include two parallelogram frames (20) and two steady braces being fixedly mounted between two parallelogram frames (20)
(21)；The Liang Ge electric putter mechanism (2) of mechanical big leg mechanism (3) is hingedly mounted on two parallelogram frames by short axle (16)
(20) between, and the telescopic direction of Liang Ge electric putter mechanism (2) is opposite；An end hinge hole (26) hinge of vertical swing rod (23)
It connects and is mounted on the push rod articulated shaft (18) of an electric putter mechanism (2) of mechanical big leg mechanism (3)；Vertically swing rod (23) is another
One end hinge hole (26) is hingedly mounted on two parallelogram frames (20) by fixed pin shaft (40).
7. multivariant hexapod robot according to claim 6, it is characterised in that: mechanical small leg mechanism (4) includes
Upper strut (29), pressure sensor (33) and hemispherical footing (32)；The upper end of upper strut (29) is equipped with upper hinge hole
(30) and lower hinge hole (31)；Upper hinge hole (30) is hingedly mounted on two parallelogram frames (20) by fixed pin shaft (40)
On, lower hinge hole (31) is hingedly mounted on the push rod articulated shaft (18) of another electric putter mechanism (2) of mechanical big leg mechanism (3)
On；Pressure sensor (33) is fixedly mounted on the lower end of strut (29)；Hemispherical footing (32) is fixedly mounted on pressure
On the lower end of sensor (33).
8. multivariant hexapod robot according to claim 7, it is characterised in that: the both ends of fixed pin shaft (40) are logical
It crosses hinged seat (14) and realizes hinged installation, and realize that the both ends of fixed pin shaft (40) are locked by locking anchor ear (22)；Electric pushrod
(15) both ends of two short axles (16) and push rod articulated shaft (18) on pass through hinged seat (14) and realize hinged installation；Hingedly
Seat (14) includes mounting seat (35), bearing (38) and circlip (39)；Bearing mounting hole is equipped on mounting seat (35)
(36) and two for installing the fixed installation circular hole (37) of hinged seat (14)；Bearing (38) is embedded in bearing mounting hole (36)
It is interior, and bearing (38) are limited by circlip (39).
9. multivariant hexapod robot according to claim 8, it is characterised in that: in fixed pin shaft (40) and push rod
Limit threaded hole (19) is equipped in the middle part of articulated shaft (18)；Hinge hole (26), hinged mounting hole (28), upper hinge hole in end
(30) and at lower hinge hole (31) equal threaded engagement is equipped with a caging bolt (25), and the end part of caging bolt (25)
The limit threaded hole (19) in each hole with corresponding position is not protruded into mutually to screw.
10. multivariant hexapod robot according to claim 2, it is characterised in that: equal at the both ends of side frame (7)
Equipped with a lifting lug (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820716768.2U CN208181244U (en) | 2018-05-14 | 2018-05-14 | A kind of multivariant hexapod robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820716768.2U CN208181244U (en) | 2018-05-14 | 2018-05-14 | A kind of multivariant hexapod robot |
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| Publication Number | Publication Date |
|---|---|
| CN208181244U true CN208181244U (en) | 2018-12-04 |
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ID=64430069
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820716768.2U Expired - Fee Related CN208181244U (en) | 2018-05-14 | 2018-05-14 | A kind of multivariant hexapod robot |
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| Country | Link |
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| CN (1) | CN208181244U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108528563A (en) * | 2018-05-14 | 2018-09-14 | 南京大学 | A kind of Hexapod Robot |
-
2018
- 2018-05-14 CN CN201820716768.2U patent/CN208181244U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108528563A (en) * | 2018-05-14 | 2018-09-14 | 南京大学 | A kind of Hexapod Robot |
| CN108528563B (en) * | 2018-05-14 | 2023-11-03 | 南京大学 | Six-foot robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181204 Termination date: 20200514 |
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| CF01 | Termination of patent right due to non-payment of annual fee |