CN215622359U

CN215622359U - Six-foot robot

Info

Publication number: CN215622359U
Application number: CN202121832765.3U
Authority: CN
Inventors: 彭曙蓉; 袁永信; 张莅斌; 梁凯诚; 陈浩文; 李安琪
Original assignee: Shenzhen Technology University
Current assignee: Shenzhen Technology University
Priority date: 2021-08-06
Filing date: 2021-08-06
Publication date: 2022-01-25
Anticipated expiration: 2031-08-06

Abstract

The utility model discloses a hexapod robot, which relates to the field of robots and comprises six moving legs and a control system, wherein each moving leg comprises: shank backup pad, shank support, first steering wheel, thigh and second steering wheel. According to the utility model, the robot is designed into the hexapod type robot, so that the robot can be suitable for different terrains, the terrain applicability of the robot is greatly improved, the distribution of the robot can cross terrains such as steps, and the practicability of the robot is effectively improved.

Description

Six-foot robot

Technical Field

The utility model relates to the technical field of robots, in particular to a hexapod robot.

Background

In recent years, with the rapid development of the e-commerce industry, the express delivery industry rises rapidly, the number of enterprises is increased on a large scale, and the express delivery business range is continuously expanded. Meanwhile, the rapid growth of express business also brings many problems, wherein the end distribution link becomes a soft rib for improving the express service quality. The terminal delivery is also called as 'last kilometer' delivery, is the last link of delivery of express enterprises, and is a key link for realizing the transfer of articles from a delivery center to the hands of consumers.

In order to improve the distribution efficiency, many express enterprises in China develop distribution robots, and the functions of 360-degree environment monitoring, automatic obstacle avoidance, accurate traffic light identification, autonomous stop distribution points and the like can be achieved. However, many distribution robots are wheel-type walking structures, and can only be suitable for moving on a flat road, and if steps or uneven road surfaces exist in the distribution process, the robots are easily blocked in one place.

SUMMERY OF THE UTILITY MODEL

Based on the background, the utility model designs the automatic delivery robot capable of delivering the express under the complex terrain, and solves the delivery problem of the robot under the complex terrain.

The present invention is directed to a hexapod robot, which solves the problem that the wheel-type distribution robot proposed in the background art cannot be applied to a complicated terrain.

In order to achieve the purpose, the utility model provides the following technical scheme: a hexapod robot comprising six moving legs and a control system, wherein each moving leg comprises: the thigh support comprises a shank support plate, shank supports, a first steering engine, thighs and a second steering engine, lightening holes (18) are formed in the shank support plate (1), a rubber pad (19) is fixedly mounted at one end, far away from the thighs (5), of the shank support plate (1), and the shank supports (2) are integrally of a sheet structure.

Preferably, the first steering engine is installed on the inner side of the shank support, a U-shaped connecting plate is sleeved at one end, away from the shank support, of the first steering engine in a rotating mode, one side, away from the shank support, of the U-shaped connecting plate is fixedly connected with a thigh, a second steering engine is sleeved at the inner side of the thigh in a rotating mode, the top of the second steering engine is fixedly connected with the upper connecting plate, and the bottom of the second steering engine is fixedly connected with the lower connecting plate.

Preferably, the lower leg support plate is fixedly connected to the lower leg support by means of a snap, a screw, or a rivet.

Preferably, a connecting rotating hole is formed in one end, far away from the shank supporting plate, of the shank bracket, and two output shafts of the first steering engine are fixedly sleeved in the connecting rotating hole; all seted up the installation on the both sides inner wall of thigh and changeed the hole, two output ends of second steering wheel are fixed to be cup jointed at two installation commentaries on classics downtheholely.

Preferably, the upper end and the lower end of the second steering engine are fixed on the upper connecting plate and the lower connecting plate through at least one first self-tapping screw respectively.

Preferably, the upper connecting plate and the lower connecting plate are fixedly connected through at least 3 first double-pass studs and self-tapping screws corresponding to the first double-pass studs.

Preferably, the control system is fixed on the upper portion of the upper connecting plate through a second double-pass stud and a self-tapping screw corresponding to the second double-pass stud.

Preferably, when the robot moves, the front and back moving legs on the left side and the middle moving legs on the opposite side are a first group, the rest moving legs are a second group, and each group of the moving legs move simultaneously.

The utility model has the beneficial effects that:

according to the utility model, the robot is designed into the hexapod type robot, so that the robot can be suitable for different terrains, the terrain applicability of the robot is greatly improved, the distribution of the robot can cross terrains such as steps, and the practicability of the robot is effectively improved.

In the utility model, the three pairs of feet are divided into two groups when the robot walks, and then the robot alternately moves forwards in a triangular bracket structure, which is called triangular gait, so that the running stability of the robot is greatly improved, and the function of stable running of the robot is achieved.

Drawings

Fig. 1 is a schematic perspective view of a hexapod robot according to the present invention;

FIG. 2 is a schematic view of the structural connection of a lower leg and a thigh of a hexapod robot according to the present invention;

FIG. 3 is a schematic diagram of structural connection of a raspberry pie and an upper connecting plate in a hexapod robot according to the present invention;

fig. 4 is a schematic diagram of structural connection of an upper connecting plate and a bracket in a hexapod robot according to the present invention.

In the figure: 1. a shank support plate; 2. a lower leg; 3. a first steering engine; 4. a support; 5. a thigh; 6. a raspberry pie; 7. an upper connecting plate; 8. a lower connecting plate; 9. a U-shaped connecting plate; 10. a second steering engine; 11. a machine screw; 12. connecting the rotary holes; 13. mounting a rotating hole; 14. a first tapping screw; 15. a first double-pass stud; 16. A second double-pass stud; 17. a third double-pass stud; 18. lightening holes; 19. and (7) a rubber pad.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.

Referring to fig. 1, the present embodiment provides a hexapod robot, which comprises six moving legs and a control system, wherein the control system is fixedly mounted on a connecting plate 7. Each motion leg comprises: the leg support plate 1, the leg support 2, first steering wheel 3, thigh 5 and second steering wheel 10.

Specifically, every shank backup pad 1 is fixed in between 2 shank supports 2 and sets up in the bottom, and first steering wheel 3 is installed to every shank support 2 upper end, and the one end that shank support 2 was kept away from to first steering wheel 3 rotates and has cup jointed U type connecting plate 9, and U type connecting plate 9 sets up in the 3 outsides of first steering wheel. One side of the U-shaped connecting plate 9, far away from the shank support 2, is fixedly connected with the thigh 5, a second steering engine 10 is sleeved inside the thigh 5 in a rotating mode, and the top of the second steering engine 10 is fixedly connected with the upper connecting plate 7. In particular, the control system is raspberry pi 6.

And a lower connecting plate 8 is fixedly arranged at the bottom of the second steering engine 10.

In one embodiment, the upper connecting plate 7 is fixedly provided with a bracket 4 for storing and placing goods.

Referring to fig. 2, the two lower leg supports are integrally formed as a sheet-like structure, and they are fixed to each other by a machine screw 11, but may be fixed by a connecting means such as a rivet in other embodiments. The lower leg support plate 1 and the lower leg support 2 can be buckled or connected through screws or can be integrally formed. Preferably, the thick rubber pad 19 is installed at the bottom of the foot end of the shank support 2 and is used for the foot end landing buffer, so that the shank support plate 1 can realize the stable landing of the hexapod robot, and the robot can walk stably. In one embodiment, the lower leg support plate 1 is fixed between the two lower leg supports 2 through mechanical screws, so that the connection stability of the lower leg supports 2 and the lower leg support plate 1 is improved, and the strength of the lower leg supports 2 is also improved. The upper end of the shank support 2 is provided with a connecting rotating hole 12, two output shafts of the first steering engine 3 are fixedly sleeved in the connecting rotating hole 12, and the first steering engine 3 drives the shank support 2 to move through the connecting rotating hole 12, so that the shank can move up and down, and the robot is moved.

In one embodiment of the utility model, the inner walls of the two sides of the thigh 5 are respectively provided with a mounting rotating hole 13, two output ends of the second steering engine 10 are fixedly sleeved in the two mounting rotating holes 13, and an output shaft of the second steering engine 10 drives the thigh 5 to move left and right through the two mounting rotating holes 13. The upper end and the lower end of the second steering engine 10 are respectively fixed between the upper connecting plate 7 and the lower connecting plate 8 through three first self-tapping screws 14, and the connection stability between the second steering engine 10 and the upper connecting plate 7 and the lower connecting plate 8 is guaranteed through the first self-tapping screws 14.

In this application, through two dimensions that two steering wheel control removed, the horizontal migration of a control thigh, the reciprocating of a control shank from this accomplishes the motion of whole shank.

Referring to fig. 3, the upper connecting plate 7 and the lower connecting plate 8 are fixedly connected with corresponding self-tapping screws through a plurality of (4 in the figure, in other embodiments, a plurality of) first double-way studs 15, and the upper connecting plate 7 and the lower connecting plate 8 are supported by the first double-way studs 15, so that the supporting strength of the upper connecting plate 7 and the lower connecting plate 8 is improved, and the structural stability of the robot is ensured. The four corners of the raspberry pie 6 are fixed on the upper portion of the upper connecting plate 7 through second double-way studs 16 and self-tapping screws corresponding to the second double-way studs 16, and the installation stability of the raspberry pie 6 is guaranteed through the second double-way studs 16.

Referring to fig. 4, support 4 is fixed on the upper portion of upper junction plate 7 through third bi-pass double-screw bolt 17 and self tapping screw rather than corresponding, and support 4 is higher than raspberry group 6, and this support is used for protecting raspberry group 6, can place the express delivery parcel above the while.

In the utility model, a lightening hole 18 is arranged on the shank support plate 1, a thicker rubber pad 19 is fixedly arranged at one end of the shank support plate 1 far away from the thigh 5, the lightening hole 18 is arranged on the shank support plate 1 and is used for lightening the weight of a leg and strengthening the performance of the leg, and the thicker rubber pad 19 is arranged at the bottom of the shank support plate 1 and is used for foot end landing buffering.

In order to further improve the performance of the high-hexapod robot, a plate-shaped assembling structure is adopted integrally, and the thicknesses of the shank supporting plate 1, the shank support 2, the support 4, the thigh 5, the upper connecting plate 7, the lower connecting plate 8 and the U-shaped connecting plate 9 are all about one millimeter, so that the weight of the robot is reduced, and the movement difficulty of the robot is reduced.

The working principle of the utility model is as follows:

the application provides a hexapod robot's shank backup pad 1 passes through mechanical screw 11 and is connected with shank support 2, and thick rubber pad 20 is installed to foot end bottom for the buffering is fallen to the ground to the foot end, and shank backup pad 1 realizes that hexapod robot's stability falls to the ground, makes the walking that the robot can be stable. The shank support 2 is connected with the rotating end of the first steering engine 3 through a connecting rotating hole 12 and can move up and down. The foot end of the shank support plate 1 is designed to be an arc-shaped structure, and the shank support plate 1 is provided with lightening holes 21, so that the weight of the legs is lightened, and the performance of the legs is enhanced. Shank backup pad 1 preferably adopts the rectangular cross section, and bending resistance is strong, and structural processing nature is good, and the bearing capacity is strong, conveniently carries on other functional modules. Shank support 2 connects thigh 5 through U type connecting plate 9, and thigh 5 passes through the rotatory end of installation commentaries on classics hole 13 connection second steering wheel 10, and second steering wheel 10 is fixed between upper junction plate 7 and lower junction plate 8 through first self tapping spiral shell, has guaranteed second steering wheel 10 and upper junction plate 7 and lower junction plate 8's stability of being connected. The thigh 5 and the shank support 2 and other structures jointly form the feet of the robot, the feet of the robot are controlled by a steering engine on the feet, walking and steering of the robot are achieved, the upper connecting plate 7 and the lower connecting plate 8 are connected with corresponding self-tapping screws through the first double-way studs 15, all legs of the robot are connected, and the robot can move through the legs. Raspberry pie 6 is connected with upper junction plate 7 through second bi-pass double-screw bolt 16 and self-tapping screw rather than corresponding, and raspberry pie 6 and each steering wheel electric connection realize the control of raspberry pie 6 to each steering wheel. In addition, the support 4 is fixed on the upper portion of the upper connecting plate 7 through the third double-pass stud 17 and a self-tapping screw corresponding to the third double-pass stud, the raspberry pie 6 is protected, dust accumulation on the raspberry pie 6 is avoided, and meanwhile the raspberry pie 6 is prevented from being directly impacted by sundries. According to the motion posture required to be realized by the robot, when the robot walks, the six feet do not move linearly at the same time, but the three pairs of feet are divided into two groups, and the three groups alternately move forwards by a triangular support structure, which is called triangular gait, wherein the front and rear feet on the left side of the body and the middle feet on the opposite side are one group, the rest are the other group, and the two groups respectively form two triangles.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. A hexapod robot comprising six moving legs and a control system, wherein each moving leg comprises: the leg support plate comprises a leg support plate (1), a leg support (2), a first steering engine (3), a thigh (5) and a second steering engine (10), lightening holes (18) are formed in the leg support plate (1), one end, far away from the thigh (5), of the leg support plate (1) is fixedly provided with a rubber pad (19), and the two leg supports (2) are integrally of a sheet structure.

2. The hexapod robot of claim 1, wherein: first steering wheel (3) install in shank support (2) are inboard, the one end that shank support (2) were kept away from in first steering wheel (3) is rotated and is cup jointed U type connecting plate (9), and one side and thigh (5) fixed connection of shank support (2) are kept away from in U type connecting plate (9), second steering wheel (10) have been cup jointed in thigh (5) inboard rotation, the top and upper junction plate (7) fixed connection of second steering wheel (10), the bottom and lower connecting plate (8) fixed connection of second steering wheel (10).

3. The hexapod robot of claim 1 or 2, wherein: the lower leg supporting plate is fixedly connected to the lower leg support (2) through clamping, screws or rivets.

4. The hexapod robot of claim 1 or 2, wherein: one end of the shank support (2) far away from the shank support plate (1) is provided with a connecting rotating hole (12), and two output shafts of the first steering engine (3) are fixedly sleeved in the connecting rotating hole (12); all seted up installation on the both sides inner wall of thigh (5) and changeed hole (13), two output ends of second steering wheel (10) are fixed to be cup jointed in two installation change holes (13).

5. The hexapod robot of claim 2, wherein: the upper end and the lower end of the second steering engine (10) are respectively fixed on the upper connecting plate (7) and the lower connecting plate (8) through at least one first self-tapping screw (14).

6. The hexapod robot of claim 2, wherein: the upper connecting plate (7) and the lower connecting plate (8) are fixedly connected with self-tapping screws corresponding to the upper connecting plate through at least 3 first double-pass studs (15).

7. The hexapod robot of claim 2, wherein: and the control system is fixed on the upper part of the upper connecting plate (7) through a second double-pass stud (16) and a self-tapping screw corresponding to the second double-pass stud.

8. The hexapod robot of claim 1 or 2, wherein: when the robot moves, the front and back moving legs on the left side and the middle moving legs on the opposite side are a first group, the rest moving legs are a second group, and each group of moving legs move simultaneously.