CN210149449U

CN210149449U - Six-foot robot

Info

Publication number: CN210149449U
Application number: CN201920835190.7U
Authority: CN
Inventors: 朱林海; 何通
Original assignee: Guangdong Shenlan Information Engineering Co Ltd
Current assignee: Guangdong Shenlan Information Engineering Co Ltd
Priority date: 2019-06-04
Filing date: 2019-06-04
Publication date: 2020-03-17
Anticipated expiration: 2029-06-04

Abstract

The utility model relates to a robot, in particular to a six-legged robot, which comprises a supporting table, wherein four bionic wheel limbs distributed in an annular array are arranged around the supporting table, and two bionic clamp limbs distributed symmetrically are arranged at the front end of the supporting table; the bionic wheel limb is provided with a wheel which is arranged on an output shaft of a wheel motor, the wheel motor is fixed on a wheel motor frame, and the upper end of the wheel motor frame is provided with a rotating motor; the bionic clamp limb top is provided with a clamp which is connected on an output shaft of the clamp limb steering engine. The utility model discloses wheeled walking, sufficient formula climbing, four-footed clamp are got, and the integration is in the same place, the advanced control system of collocation for six-footed four-wheeled robot improves action efficiency, reduces the power consumption, can satisfy various work needs.

Description

Six-foot robot

Technical Field

The utility model relates to a robot, specifically be a six-legged robot.

Background

At present, the hexapod robot has good obstacle crossing capability and ultrahigh stability, so that the hexapod robot can walk and move in a complex terrain environment, and can be used for operations, rescue, exploration and the like on uneven ground such as mines, earthquakes and the like. However, hexapod robots move slowly, consume high energy, and are not efficient in some situations.

In order to solve the problems, the six-footed four-wheeled robot is specially provided, the six-footed four-wheeled robot just aims to overcome the defects, can walk on uneven road surfaces like a common six-footed robot through two bionic clamp limbs and four bionic wheel limbs, folds the two bionic clamp limbs in front when walking to the flat road surfaces, and moves fast like a common vehicle through the four bionic wheel limbs. Therefore, the requirements of high working efficiency, strong obstacle crossing capability, energy consumption reduction and stable movement are met.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a six-legged robot to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme:

a six-legged robot comprises a supporting table, wherein four bionic wheel limbs distributed in an annular array are arranged on the periphery of the supporting table, and two bionic clamp limbs distributed symmetrically are arranged at the front end of the supporting table;

the bionic wheel limb is provided with a wheel, the wheel is arranged on an output shaft of a wheel motor, the wheel motor is fixed on a wheel motor frame, and the upper end of the wheel motor frame is provided with a rotating motor;

the bionic clamp is characterized in that a clamp is arranged at the top of the bionic clamp limb, and the clamp is connected to an output shaft of the clamp limb steering engine.

Further scheme: be equipped with the clip semicircle dish on the bionical clip limb, clip limb steering wheel is installed on the clip semicircle dish, is fixed with the rotary rod on the output shaft of clip limb steering wheel, and the rotary rod passes through the circular arc pole to be fixed on the clip, and clip semicircle dish upper end is fixed on the mount, and the mount is fixed on clip limb steering wheel.

A further scheme is as follows: the fixing frame is formed by two first U-shaped frames and two first fixed connecting frames which are distributed in a crossed mode.

A further scheme is as follows: a first rudder casing is installed between the first U-shaped frame and the first fixed connecting frame, and the first rudder casing and the first U-shaped frame are fixed in a rotating mode.

A further scheme is as follows: the bionic wheel leg steering gear mechanism is characterized in that steering gear assemblies are arranged on the bionic wheel legs, two steering gear assemblies are arranged, each steering gear assembly is composed of a wheel leg steering gear, a second U-shaped frame and a second fixed connecting frame, the lower end of each steering gear assembly is fixed to a rotating motor frame, and the lower end of each rotating motor frame is fixed to a rotating motor.

A further scheme is as follows: and a second rudder casing is arranged outside the wheel limb steering engine.

A further scheme is as follows: the support table is composed of an upper support elliptical plate and a lower support elliptical plate, the upper support elliptical plate and the lower support elliptical plate are fixed through elliptical plate pillars, and a power supply and a main control board are installed between the upper support elliptical plate and the lower support elliptical plate; simultaneously, the camera is installed at the upper end of the supporting table and is fixed through the camera frame, the sensor is installed at the upper end of the supporting table, the sensor comprises an infrared life detection sensor and an obstacle avoidance sensor, and the supporting table on the side edge of the sensor is provided with a lamp.

Compared with the prior art, the beneficial effects of the utility model are that:

the utility model discloses wheeled walking, sufficient formula climbing, four-footed clamp are got, and the integration is in the same place, the advanced control system of collocation for six-footed four-wheeled robot improves action efficiency, reduces the power consumption, can satisfy various work needs.

Drawings

Fig. 1 is a schematic structural view of the hexapod robot of the present invention.

Fig. 2 is a schematic structural diagram of the bionic clamp limb in fig. 1.

Figure 3 is a schematic structural view of the biomimetic wheel limb of figure 1.

In the figure: 10-a camera; 11-camera head; 12-a sensor; 13-a lamp; 40-upper support elliptical plate; 41-lower supporting elliptical plate; 42-a power supply; 43-a main control board; 60-bionic clamp limb; 61-a first rudder housing; 62-a first U-shaped frame; 63-a first fixed connection frame; 64-clamp half discs; 65-rotating rod; 66-arc rod; 67-a clip; 68-clamp limb steering engine; 80-bionic wheel limbs; 81-wheel limb steering engine; 82-a second rudder housing; 83-a second fixed connection frame; 84-a second U-shaped frame; 85-rotating motor frame; 86-a rotating electrical machine; 87-wheel motor frame; 88-wheel motor; 89-wheel.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

Referring to fig. 1 to 3, the present invention provides a hexapod robot.

Example 1

The embodiment of the utility model provides a hexapod robot specifically is as shown in fig. 1, including the brace table, four bionical wheel limbs 80 that are ring array and distribute are installed all around to the brace table, and two bionical clip limbs 60 that are the symmetric distribution are installed to the brace table front end.

In order to walk on a flat road surface, as shown in fig. 3, the bionic wheel limb 80 is provided with a wheel 89, the wheel 89 is installed on an output shaft of a wheel motor 88, the wheel motor 88 is fixed on a wheel motor frame 87, and the upper end of the wheel motor frame 87 is provided with a rotating motor 86; meanwhile, in order to stably walk on uneven road surfaces, as shown in fig. 2, a clip 67 is arranged at the top of the bionic clip limb 60, and the clip 67 is connected to an output shaft of the clip limb steering engine 68.

Specifically, when four-wheel walking is carried out on the flat ground, the two bionic clamp limbs 60 are lifted, the positions of the four bionic wheel limbs 80 are adjusted, the wheels 89 are adjusted by the rotating motor 86 to be parallel to the long axis of the supporting platform, and the robot can drive the four wheels 89 to rapidly walk by the wheel motor 88, so that the robot does not need to always run by feet, the action efficiency is improved, and the energy consumption is reduced;

when climbing stairs on uneven road surfaces and crossing obstacles, the two clamps 67 of the two bionic clamp limbs 60 are closed and supported on the ground, namely two feet are supported in front, the rotating motors 86 of the four bionic wheel limbs 80 adjust the wheels 89 to be vertical to the advancing direction, so that the wheels can be effectively prevented from rotating and slipping, the two bionic clamp limbs 60 are matched with the four bionic wheel limbs 80, and the climbing and crossing actions can be stably completed in a six-foot mode;

when an object is clamped, the rotating motors 86 of the four simulated wheel limbs 80 adjust the wheels 89 to be vertical to the working direction, the four simulated wheel limbs 80 stabilize the body, the positions of the clamps 67 are adjusted by swinging the clamp limb steering engines 68 of the two simulated clamp limbs 60, and the clamp limb steering engines 68 control the opening and closing of the clamps 67 to clamp the object;

in conclusion, the six-foot four-wheel robot has the advantages that the six-foot four-wheel robot walks in a wheel mode, climbs in a foot mode, clamps four feet and combines the walking, the climbing and the clamping together, and is matched with an advanced control system, so that the six-foot four-wheel robot improves the action efficiency, reduces energy consumption and can meet various working requirements.

Example 2

A hexapod robot, as shown in fig. 2, wherein the embodiment of the present invention is further defined based on embodiment 1.

Particularly, be equipped with clip semicircle dish 64 on bionical clip limb 60, clip limb steering wheel 68 is installed on clip semicircle dish 64, is fixed with rotary rod 65 on the output shaft of clip limb steering wheel 68, and rotary rod 65 passes through arc rod 66 to be fixed on clip 67, and clip semicircle dish 64 upper end is fixed on the mount, and the mount is fixed on clip limb steering wheel 68.

Furthermore, the fixing frame is formed by two first U-shaped frames 62 and two first fixing connecting frames 63 which are distributed in a crossed manner.

Meanwhile, a first rudder housing 61 is installed between the first U-shaped frame 62 and the first fixed connecting frame 63, and the first rudder housing 61 and the first U-shaped frame 62 are fixed in a rotating manner.

Example 3

A hexapod robot, as shown in fig. 3, wherein the embodiment of the present invention is further defined based on embodiment 1.

Particularly, be equipped with the steering wheel subassembly on bionical wheel limb 80, the steering wheel subassembly is provided with two sets ofly, and every steering wheel subassembly of group comprises wheel limb steering wheel 81, second U type frame 84 and second fixed connection frame 83, and wheel limb steering wheel 81 outside is equipped with second rudder casing 82, and the steering wheel subassembly lower extreme is fixed on rotating electrical machines frame 85, and rotating electrical machines frame 85 lower extreme is fixed on rotating electrical machines 86.

Example 4

A hexapod robot, as shown in fig. 1, wherein the embodiment of the present invention is further defined based on embodiment 1.

Specifically, the support table is composed of an upper support elliptical plate 40 and a lower support elliptical plate 41, the upper support elliptical plate 40 and the lower support elliptical plate 41 are fixed through elliptical plate pillars, and a power supply 42 and a main control board 43 are installed between the upper support elliptical plate 40 and the lower support elliptical plate 41 (the main control board 43 adopts the prior art, can be directly purchased in the market, and is not elaborated herein); meanwhile, a camera 10 is installed at the upper end of the supporting table, the camera 10 is fixed through a camera frame 11, a sensor 12 is installed at the upper end of the supporting table, the sensor 12 comprises an infrared life detection sensor and an obstacle avoidance sensor, and a lamp 13 is installed on the supporting table on the side edge of the sensor 12.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. A hexapod robot comprises a supporting table, and is characterized in that four bionic wheel limbs (80) distributed in an annular array are arranged on the periphery of the supporting table, and two bionic clamp limbs (60) distributed symmetrically are arranged at the front end of the supporting table;

the bionic wheel limb (80) is provided with a wheel (89), the wheel (89) is arranged on an output shaft of a wheel motor (88), the wheel motor (88) is fixed on a wheel motor frame (87), and the upper end of the wheel motor frame (87) is provided with a rotating motor (86);

a clip (67) is arranged at the top of the bionic clip limb (60), and the clip (67) is connected to an output shaft of the clip limb steering engine (68).

2. The hexapod robot as claimed in claim 1, wherein a clamp semicircular disc (64) is arranged on the bionic clamp limb (60), a clamp limb steering engine (68) is mounted on the clamp semicircular disc (64), a rotating rod (65) is fixed on an output shaft of the clamp limb steering engine (68), the rotating rod (65) is fixed on a clamp (67) through an arc rod (66), the upper end of the clamp semicircular disc (64) is fixed on a fixing frame, and the fixing frame is fixed on the clamp limb steering engine (68).

3. The hexapod robot as claimed in claim 2, wherein the fixing frame is formed by two first U-shaped frames (62) and two first fixing connecting frames (63) in a cross distribution.

4. A hexapod robot as claimed in claim 3, wherein a first rudder housing (61) is mounted between the first U-shaped frame (62) and the first fixed connection frame (63), and the first rudder housing (61) and the first U-shaped frame (62) are rotationally fixed.

5. The hexapod robot as claimed in claim 1, wherein steering engine components are arranged on the bionic wheel limbs (80), two groups of steering engine components are arranged, each group of steering engine components is composed of a wheel limb steering engine (81), a second U-shaped frame (84) and a second fixed connecting frame (83), the lower ends of the steering engine components are fixed on a rotating motor frame (85), and the lower ends of the rotating motor frames (85) are fixed on a rotating motor (86).

6. The hexapod robot as claimed in claim 5, wherein a second rudder housing (82) is provided outside the wheel-limb steering engine (81).

7. The hexapod robot as claimed in claim 1, wherein the support platform is composed of an upper support elliptical plate (40) and a lower support elliptical plate (41), the upper support elliptical plate (40) and the lower support elliptical plate (41) are fixed through elliptical plate pillars, and a power supply (42) and a main control board (43) are installed between the upper support elliptical plate (40) and the lower support elliptical plate (41); simultaneously, a camera (10) is installed at the upper end of the supporting table, the camera (10) is fixed through a camera head (11), a sensor (12) is installed at the upper end of the supporting table, the sensor (12) is provided with an infrared life detection sensor and an obstacle avoidance sensor, and a lamp (13) is installed on the supporting table at the side edge of the sensor (12).