CN213799958U - Six-foot walking robot - Google Patents
Six-foot walking robot Download PDFInfo
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- CN213799958U CN213799958U CN202021259550.2U CN202021259550U CN213799958U CN 213799958 U CN213799958 U CN 213799958U CN 202021259550 U CN202021259550 U CN 202021259550U CN 213799958 U CN213799958 U CN 213799958U
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Abstract
The utility model relates to a robot field specifically discloses a six sufficient walking robots, including the steering wheel, left drive leg is installed in the left side of steering wheel, left side walking is sufficient installed to the lower extreme of left side drive leg, and the junction of right side walking foot, right drive leg and steering wheel installs transverse rotating shaft, the last surface mounting of steering wheel has the camera, and the lower surface mounting of steering wheel has the base, bevel gear has been cup jointed in the outside of vertical pivot, transmitting gear is installed to one side of bevel gear. The device main part structural design is brief to the steering wheel of hexagonal circumference symmetry design has been adopted, and control right side walking foot and right drive leg rotate, and left side walking foot and left drive leg of controlling again rotate, thereby play controlling means's the gos forward or retreat, and the rotation of the inside longitudinal rotation motor of right drive leg drives the rotation of running gear, thereby can carry out the lifting of certain degree to left side walking foot, guarantees the stability of marcing.
Description
Technical Field
The utility model relates to the field of robots, specifically a six sufficient walking robots.
Background
The robot technology is gradually highlighting the irreplaceable role in the production process in various fields, and in human social life, dangerous work is inevitably required to be carried out in special occasions in the processes of labor and production, such as complex ground surfaces, disasters of mines, cliff and other complex occasions.
However, when the wheeled robot and the caterpillar track on the market are on a rugged road, the performance of the robot is greatly reduced, and even the robot cannot work normally. Accordingly, a hexapod walking robot is provided by those skilled in the art to solve the problems set forth in the background art described above.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a six sufficient walking 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-foot walking robot comprises a steering engine, wherein a left driving leg is installed on the left side of the steering engine, a left walking foot is installed at the lower end of the left driving leg, a right driving leg is installed on the right side of the steering engine, a right walking foot is installed at the lower end of the right driving leg, three right driving legs and three left driving legs are arranged, a longitudinal rotating shaft is installed at the joint of the right walking foot and the right driving leg and the joint of the left walking foot and the left driving leg, a transverse rotating shaft is installed at the joints of the right walking foot, the right driving leg and the steering engine, a camera is installed on the upper surface of the steering engine, a base is installed on the lower surface of the steering engine, a bevel gear is sleeved on the outer side of the longitudinal rotating shaft, a rotating gear is installed on one side of the bevel gear, a longitudinal rotating motor is connected to one end of the rotating gear through the rotating shaft, and a control circuit board is installed inside the steering engine, one side of the control circuit board is connected with a Bluetooth module.
As a further aspect of the present invention: the bevel gear is meshed with a rotating gear, and the rotating gear is rotationally connected with a longitudinal rotating motor.
As a further aspect of the present invention: the right walking foot is rotatably connected with the right driving leg through a transverse rotating shaft, and the left walking foot is rotatably connected with the left driving leg through a longitudinal rotating shaft.
As a further aspect of the present invention: the camera is electrically connected with the control circuit board, and the longitudinal rotating motor is electrically connected with the control circuit board.
As a further aspect of the present invention: the control circuit board is electrically connected with the Bluetooth module, and the right walking foot and the left driving leg are all aluminum alloy components.
As a further aspect of the present invention: the lower end of the transverse rotating shaft is located inside the steering engine and is provided with a transverse rotating motor, a rotating motor is arranged below the camera and located inside the steering engine, and a transmission shaft is connected between the rotating motor and the camera.
As a further aspect of the present invention: the transverse rotating shaft is rotatably connected with the transverse rotating motor, and the camera is rotatably connected with the rotating motor through the transmission shaft.
Compared with the prior art, the beneficial effects of the utility model are that: the device is simple in structural design, integrates the structures of a link piece and a support piece, ensures that the link of parts of the robot is relatively sufficient, adopts a steering engine with hexagonal circumferential symmetry design, ensures that the robot can stably run in the structural aspect, can remotely detect uneven and low-lying terrain and places where people cannot enter through Bluetooth, works and the like, controls the first right walking foot and the right driving leg on the right side of the steering engine to rotate, controls the first left walking foot and the left driving leg on the left side of the steering engine to rotate, and then starts the control device to move forwards or backwards, and drives the rotation gear to rotate by controlling the rotation of a longitudinal rotating motor inside a right driving leg on the right side when the rough road condition is met, so that the left walking foot can be lifted to a certain degree, and the movement of the rest driving legs and the moving feet is sequentially controlled according to the sequence, so that the device performs crawling motion similar to that in bionics, and the moving stability is ensured.
Drawings
FIG. 1 is a schematic structural view of a hexapod walking robot;
FIG. 2 is a partial cross-sectional view of a steering engine in a hexapod walking robot;
fig. 3 is a schematic view showing the internal structure of the left driving leg and the left walking foot in a hexapod walking robot.
In the figure: 1. a steering engine; 2. left walking foot; 3. right walking feet; 4. a left drive leg; 5. a right drive leg; 6. a transverse rotating shaft; 7. a longitudinal rotating shaft; 8. a base; 9. a camera; 101. a control circuit board; 102. a Bluetooth module; 601. a transverse rotation motor; 701. longitudinally rotating the motor; 702. a rotating gear; 703. (ii) a A bevel gear; 901. a rotating electric machine; 902. a drive shaft.
Detailed Description
Referring to fig. 1 to 3, in the embodiment of the present invention, a hexapod walking robot includes a steering engine 1, a left driving leg 4 is installed on the left side of the steering engine 1, a left walking leg 2 is installed on the lower end of the left driving leg 4, a right driving leg 5 is installed on the right side of the steering engine 1, a right walking leg 3 is installed on the lower end of the right driving leg 5, three right driving legs 5 and three left driving legs 4 are provided, a longitudinal rotating shaft 7 is installed at the connection between the right walking leg 3 and the right driving leg 5 and at the connection between the left walking leg 2 and the left driving leg 4, transverse rotating shafts 6 are installed at the connection between the right walking leg 3, the right driving leg 5 and the steering engine 1, a camera 9 is installed on the upper surface of the steering engine 1, a base 8 is installed on the lower surface of the steering engine 1, a bevel gear 703 is sleeved on the outer side of the longitudinal rotating shaft 7, a rotating gear 702 is installed on one side of the bevel gear 703, a longitudinal rotating motor 701 is connected to one end of the rotating gear 702 through a rotating shaft, a control circuit board 101 is installed inside the steering engine 1, and one side of the control circuit board 101 is connected with a Bluetooth module 102.
In fig. 1, 2, 3: bevel gear 703 meshes with rotating gear 702, rotating gear 702 rotates with vertical rotation motor 701 and is connected, right walking foot 3 rotates through horizontal pivot 6 with right drive leg 5 and is connected, left walking foot 2 rotates through vertical pivot 7 with left drive leg 4 and is connected, camera 9 and control circuit board 101 electric connection, vertical rotation motor 701 and control circuit board 101 electric connection, control circuit board 101 and bluetooth module 102 electric connection, right walking foot 3 and left drive leg 4 are the aluminum alloy component, the lower extreme of horizontal pivot 6 is located the internally mounted of steering wheel 1 and is equipped with horizontal rotation motor 601, the below of camera 9 is located the internally mounted of steering wheel 1 and is provided with rotating electrical machines 901, be connected with transmission shaft 902 between rotating electrical machines 901 and the camera 9, horizontal pivot 6 rotates with horizontal rotation motor 601 and is connected, camera 9 rotates through the transmission shaft 902 with rotating electrical machines 901 and is connected.
In FIG. 1; the right walking foot 3, the right driving leg 5, the left walking foot 2 and the left driving leg 4 are all three, hexagonal circumference symmetry design is adopted in the outer sides of the steering engine pairs 1, the robot can stably operate in the structure aspect, the camera 9 can shoot the working environment of the robot, and therefore the danger condition caused by artificial observation is avoided to a great extent.
In fig. 2, 3: control circuit board 101 and bluetooth module 102 electric connection, the utilization is connected the device through bluetooth and controlling means to can carry out the marching of remote control robot main part after the transmission operating command, the rotation of the inside longitudinal rotation motor 701 of left side drive leg 4 drives the rotation of rotating gear 702, according to the rotating characteristic of rotating gear 702 and bevel gear 703, thereby can carry out the lifting of certain degree to left walking foot 2, thereby can deal with various complicated topography at the robot in-process of marcing.
The utility model discloses a theory of operation is: the control circuit board 101 in the steering engine 1 is used as a main driving part, the control circuit board 101 is electrically connected with the Bluetooth module 102, the device is connected with the control device through Bluetooth to transmit an operation instruction, the transverse rotating motor 601 is controlled to drive the transverse rotating shaft 6 to rotate, so that the right walking foot 3 and the right driving leg 5 are rotated, or the left walking foot 2 and the left driving leg 4 are rotated, the steering of the device main body can be well controlled, when the control device is required to advance, the first right walking foot 3 and the right driving leg 5 on the right side of the steering engine 1 are controlled to rotate, the first left walking foot 2 and the left driving leg 4 on the left side of the steering engine 1 are controlled to rotate, and then the remaining driving legs and the advancing legs are sequentially controlled to rotate respectively, so that the control device can advance or retreat, when a rough road condition is met, the left walking foot 2 can be lifted to a certain degree by controlling the rotation of a longitudinal rotating motor 701 in the left driving leg 4 on the right side, the rotation of a rotating gear 702 is driven, and the left walking foot 2 and the moving of the walking feet are sequentially controlled, so that the device can perform crawling motion in similar bionics, the walking stability is ensured, and the camera 9 can perform picture shooting in the whole walking process of the device.
The above-mentioned, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.
Claims (7)
1. The hexapod walking robot comprises a steering engine (1) and is characterized in that a left driving leg (4) is installed on the left side of the steering engine (1), a left walking leg (2) is installed at the lower end of the left driving leg (4), a right driving leg (5) is installed on the right side of the steering engine (1), right walking legs (3) are installed at the lower ends of the right driving legs (5), the number of the right driving legs (5) and the number of the left driving legs (4) are three, a longitudinal rotating shaft (7) is installed at the joint of the right walking legs (3) and the right driving legs (5) and the joint of the left walking legs (2) and the left driving legs (4), a transverse rotating shaft (6) is installed at the joint of the right walking legs (3), the right driving legs (5) and the steering engine (1), a camera (9) is installed on the upper surface of the steering engine (1), and a base (8) is installed on the lower surface of the steering engine (1), bevel gear (703) have been cup jointed in the outside of vertical pivot (7), rotating gear (702) is installed to one side of bevel gear (703), the one end of rotating gear (702) is connected with vertical rotation motor (701) through the pivot, the internally mounted of steering wheel (1) has control circuit board (101), one side of control circuit board (101) is connected with bluetooth module (102).
2. A hexapod walking robot according to claim 1, characterized in that the bevel gear (703) is engaged with a rotary gear (702), the rotary gear (702) being in rotational connection with a longitudinal rotation motor (701).
3. A hexapod walking robot according to claim 1, characterized in that the right walking foot (3) is rotatably connected with the right driving leg (5) by a transverse rotation shaft (6), and the left walking foot (2) is rotatably connected with the left driving leg (4) by a longitudinal rotation shaft (7).
4. A hexapod walking robot as claimed in claim 1 wherein the camera (9) is electrically connected to the control circuit board (101) and the longitudinal rotation motor (701) is electrically connected to the control circuit board (101).
5. The hexapod walking robot as claimed in claim 1, wherein the control circuit board (101) is electrically connected to the bluetooth module (102), and the right walking foot (3) and the left driving leg (4) are both made of aluminum alloy.
6. The hexapod walking robot as claimed in claim 1, wherein a transverse rotating motor (601) is mounted inside the steering engine (1) at the lower end of the transverse rotating shaft (6), a rotating motor (901) is arranged inside the steering engine (1) below the camera (9), and a transmission shaft (902) is connected between the rotating motor (901) and the camera (9).
7. A hexapod walking robot as claimed in claim 6, characterized in that the transverse rotation shaft (6) is rotatably connected with a transverse rotation motor (601), and the camera (9) is rotatably connected with a rotation motor (901) through a transmission shaft (902).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021259550.2U CN213799958U (en) | 2020-07-01 | 2020-07-01 | Six-foot walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021259550.2U CN213799958U (en) | 2020-07-01 | 2020-07-01 | Six-foot walking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213799958U true CN213799958U (en) | 2021-07-27 |
Family
ID=76930965
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021259550.2U Active CN213799958U (en) | 2020-07-01 | 2020-07-01 | Six-foot walking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213799958U (en) |
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2020
- 2020-07-01 CN CN202021259550.2U patent/CN213799958U/en active Active
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