CN217967105U - Balance walking multi-legged robot - Google Patents
Balance walking multi-legged robot Download PDFInfo
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- CN217967105U CN217967105U CN202222365434.4U CN202222365434U CN217967105U CN 217967105 U CN217967105 U CN 217967105U CN 202222365434 U CN202222365434 U CN 202222365434U CN 217967105 U CN217967105 U CN 217967105U
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Abstract
The utility model discloses a polypod robot of balanced walking, it relates to the robotechnology field, and it is comparatively complicated to aim at solving current polypod robot structure, needs the calculation of a large amount of motor rotation strokes in the control, and stability remains the problem that improves, and its technical scheme main points include mounting plate, respectively rotatory mounting has two sets of removal feet on mounting plate's the symmetry both sides edge, and is three remove the foot constitution and a set ofly, two sets of removal foot alternating distribution on the homonymy mounting plate side, fixed mounting has four motor supports on mounting plate's the upper surface, the walking motor is installed to motor support's upper end buckle, the rotation axis one end fixed mounting of walking motor has the eccentric wheel, every group the one end of removal foot is rotatory installs a linkage support, the linkage support is provided with four. The structure is simple, the control of the rotating stroke amount of a large number of motors is not needed, and the stability is high.
Description
Technical Field
The utility model belongs to the technical field of the robotechnology and specifically relates to a balanced walking polypod robot is related to.
Background
The robot is a high-tech product, and the robot can move according to the procedure of setting for, and in present special field, utilizes the robot to replace the security of the improvement operation that real person's operation can be great, and the robot has different kinds according to the needs of difference, wherein including polypod robot, this kind of robot work has extensive prospect under abominable complicated environment.
The existing multi-legged robot has a complex structure, needs a large amount of calculation of the rotation stroke of the motor in control, and needs to be improved in stability.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a simple structure need not a large amount of motors and rotates stroke volume control, and the high multi-legged robot of balanced walking of stability.
In order to achieve the above purpose, the utility model provides a following technical scheme:
the utility model provides a multi-legged robot of balanced walking, includes mounting plate, it is two sets of removal feet to install the rotation respectively on mounting plate's symmetry both sides, and three it forms a set ofly to remove the foot, and two sets of removal foot alternating on the homonymy mounting plate side distributes, fixed mounting has four motor supports on mounting plate's the upper surface, the walking motor is installed to the upper end buckle of motor support, the rotation axis one end fixed mounting of walking motor has the eccentric wheel, every group a linkage support is installed to the one end rotation of removal foot, the linkage support is provided with four, and corresponds four the walking motor, it leads to the groove to be provided with a style of calligraphy on the surface of linkage support, be provided with the linkage convex rod on one side surface of eccentric wheel, and the linkage convex rod alternates in the logical inslot on the linkage support surface.
By adopting the technical scheme, the robot can realize stable movement by utilizing the alternate motion of two groups of symmetrically distributed moving feet, and simultaneously can also rotate the walking motors on the same side reversely to make the robot perform pivot steering operation.
Furthermore, the two symmetrical ends of the upper surface of the mounting base plate are respectively and fixedly connected with a radar mounting seat, and a ranging radar is installed in a clamping buckle in a mounting hole in the outer surface of the radar mounting seat.
By adopting the technical scheme, the distance radar can be utilized to accurately judge the distance between the robot and the obstacle in the moving direction, and the safety of the robot in the moving process is improved.
Furthermore, the movable foot comprises a first support frame, a second support frame and a third support frame, wherein one end of the third support frame is rotatably connected with one end of the second support frame, and one end of the second support frame is rotatably connected with one end of the first support frame.
Through adopting above-mentioned technical scheme, can utilize the swing of the third support frame of second support frame to make the removal foot support on ground, or the lifting height.
Furthermore, a first electric rod is arranged between the first support frame and the second support frame, two ends of the first electric rod are respectively and rotatably connected to the side surfaces of the first support frame and the second support frame, a second electric rod is arranged between the second support frame and the third support frame, and two ends of the second electric rod are respectively and rotatably connected to the side surfaces of the second support frame and the third support frame.
Through adopting above-mentioned technical scheme, can utilize first electronic pole and second electronic pole to ensure the stability of second support frame and third support frame swing.
Furthermore, the lower end of the third support frame is fixedly provided with a damping support leg.
Through adopting above-mentioned technical scheme, can utilize the shock attenuation supporting legs to reduce the vibration of robot walking in-process, the effectual stability that improves robot walking in-process.
Furthermore, a remote control circuit board is fixedly mounted at the middle position of the upper surface of the mounting base plate, and the remote control circuit board is electrically connected with the first electric rod, the second electric rod and the traveling motor respectively.
By adopting the technical scheme, the remote control circuit board can be used for realizing remote control operation.
To sum up, the beneficial technical effects of the utility model are that:
1. the utility model discloses a set up two sets of moving feet respectively on the both sides limit of mounting plate, can realize stable operation of advancing or retreating through the synchronous motion of two sets of moving feet of symmetric distribution, when moving, the rotation of walking motor drives the eccentric wheel and rotates, thereby drive the linkage support and do reciprocating motion, reciprocating motion's linkage support drives the reciprocating swing of moving foot, and then realize stable removal, whole process walking motor need not to control the motion stroke volume, control more convenient flexibility, simultaneously in the process of moving, two walking motors of reversal same side can make this robot pivot turn to, the flexibility of operation is high, holistic structure linkage nature is strong;
2. the distance measuring radar is arranged at both ends of the mounting bottom plate, so that the distance between the robot and the barrier in the moving direction can be accurately judged, the robot can be emergently braked, and the moving safety of the robot is effectively improved;
3. the utility model discloses can adjust the angle of supporting of third support frame through the electronic pole of second, and then can make this robot when the ground through the unevenness, ensure the stationarity of whole robot, avoid appearing the condition of turning on one's side, further improvement the stability of walking.
Drawings
FIG. 1 is a three-dimensional structure of the present invention;
fig. 2 is an enlarged view of a portion a of fig. 1 according to the present invention.
In the figure: 1. mounting a bottom plate; 2. a radar mount; 3. a range radar; 4. moving the foot; 5. a traveling motor; 6. a motor bracket; 7. a linkage bracket; 8. an eccentric wheel; 9. a first support frame; 10. a first electric lever; 11. a second support frame; 12. a second electric rod; 13. a third support frame; 14. shock attenuation supporting legs.
Detailed Description
The method of the present invention will be described in further detail with reference to the accompanying drawings.
Referring to the attached drawings 1 and 2, the multi-legged robot capable of walking in a balanced manner comprises an installation bottom plate 1, two groups of moving feet 4 are respectively and rotatably installed on two symmetrical sides of the installation bottom plate 1, three moving feet 4 form a group, the two groups of moving feet 4 on the sides of the installation bottom plate 1 on the same side are alternately distributed, four motor supports 6 are fixedly installed on the upper surface of the installation bottom plate 1, a walking motor 5 is installed at the upper end of each motor support 6 in a buckling manner, an eccentric wheel 8 is fixedly installed at one end of a rotating shaft of the walking motor 5, a linkage support 7 is rotatably installed at one end of each group of moving feet 4, four linkage supports 7 are arranged and correspond to the four walking motors 5, a straight through groove is formed in the outer surface of each linkage support 7, a linkage convex rod is arranged on the outer surface of one side of the eccentric wheel 8 and is inserted in the through groove in the outer surface of the linkage support 7, the lower end of the third supporting frame 13 is fixedly provided with a shock-absorbing supporting leg 14, wherein two sets of moving feet 4 are respectively arranged on two side edges of the mounting base plate 1, stable forward or backward operation can be realized through synchronous movement of the two sets of moving feet 4 which are symmetrically distributed, when the robot moves, the eccentric wheel 8 is driven to rotate by rotation of the walking motor 5, so that the linkage support 7 is driven to do reciprocating motion, the reciprocating linkage support 7 drives the moving feet 4 to swing in a reciprocating manner, stable movement is further realized, the walking motor 5 does not need to control the movement stroke amount in the whole process, the robot can be controlled more conveniently and flexibly, meanwhile, in the moving process, the robot can be steered in situ by reversing the two walking motors 5 on the same side, the operation flexibility is high, and the whole structure linkage is strong.
Referring to fig. 1, the symmetry both ends of 1 upper surface of mounting plate are radar mount pad 2 of fixedly connected with respectively, and range finding radar 3 is installed to the buckle in the mounting hole on 2 surfaces of radar mount pad, wherein all sets up a range finding radar 3 through the both ends at mounting plate 1, and the judgement that can be accurate this robot is apart from the ascending barrier distance in moving direction for this robot can emergency braking, the effectual removal security that improves this robot.
Referring to fig. 1 and 2, the moving foot 4 includes a first support frame 9, a second support frame 11, and a third support frame 13, one end of the third support frame 13 is rotatably connected to one end of the second support frame 11, one end of the second support frame 11 is rotatably connected to one end of the first support frame 9, a first electric rod 10 is disposed between the first support frame 9 and the second support frame 11, two ends of the first electric rod 10 are respectively rotatably connected to side surfaces of the first support frame 9 and the second support frame 11, a second electric rod 12 is disposed between the second support frame 11 and the third support frame 13, two ends of the second electric rod 12 are respectively rotatably connected to side surfaces of the second support frame 11 and the third support frame 13, a remote control circuit board is fixedly mounted at a middle position of an upper surface of the mounting base plate 1, and is respectively electrically connected to the first electric rod 10, the second electric rod 12, and the walking motor 5, wherein a ground contact angle of the third support frame 13 can be adjusted by the second electric rod 12, so that the robot can pass through uneven ground, thereby ensuring stability of the whole robot, avoiding a side turn-over condition of the robot, and further improving the walking stability.
The working principle is as follows: when the robot walks, the first electric rods 10 on the two groups of symmetrically distributed moving feet 4 are synchronously contracted, at the moment, the second support frame 11 swings, and then the third support frame 13 swings in a linkage manner, the vibration-absorbing support legs 14 are separated from the ground due to the swinging of the third support frame 13, then the two corresponding walking motors 5 are rotated, the walking motors 5 drive the eccentric wheels 8 to rotate, so that the linkage support frame 7 is driven to do reciprocating motion, the reciprocating linkage support frame 7 drives the moving feet 4 to swing in a reciprocating manner, when the two groups of symmetrically distributed moving feet 4 swing to the same side, the first electric rods 10 are extended, so that the vibration-absorbing support legs 14 are propped against the ground again, then the third support frames 13 in the two groups of remaining moving feet 4 are lifted in the same manner, then the moving feet 4 which are propped against the ground swing to the other side, at the moment, the position of the robot moves, meanwhile, the two groups of tilted moving feet 4 swing to one side and are propped against the ground, stable moving operation can be realized by repeating the movement, when the turning is needed, the walking motors 5 can be reversed, and the distance of the robot can be accurately calculated by the radar which collides with the two ends of the robot, and the robot can be prevented from being damaged.
The embodiment of this specific implementation mode is the preferred embodiment of the present invention, not limit according to this the utility model discloses a protection scope, so: all equivalent changes made according to the structure, shape and principle of the utility model should be covered within the protection scope of the utility model.
Claims (6)
1. The utility model provides a polypod robot of balanced walking, includes mounting plate (1), its characterized in that: two sets of removal foot (4) are installed in the symmetry both sides edge of mounting plate (1) rotation respectively, and three removal foot (4) are constituteed a set ofly, and two sets of removal foot (4) alternating distribution on homonymy mounting plate (1) side, fixed mounting has four motor support (6) on the upper surface of mounting plate (1), walking motor (5) are installed to the upper end buckle of motor support (6), the rotation axis one end fixed mounting of walking motor (5) has eccentric wheel (8), every group a linkage support (7) is installed in the one end rotation of removal foot (4), linkage support (7) are provided with four, and correspond four walking motor (5), it leads to the groove to be provided with a style of calligraphy on the surface of linkage support (7), be provided with the linkage convex rod on one side surface of eccentric wheel (8), and the linkage convex rod alternates and lead to the inslot on linkage support (7) surface.
2. The balance walking multi-legged robot according to claim 1, characterized in that: the radar range finder is characterized in that two symmetrical ends of the upper surface of the mounting base plate (1) are fixedly connected with radar mounting seats (2) respectively, and range finders (3) are mounted in mounting holes in the outer surface of the radar mounting seats (2) in a buckling mode.
3. The balance walking multi-legged robot according to claim 1, characterized in that: the movable foot (4) comprises a first support frame (9), a second support frame (11) and a third support frame (13), one end of the third support frame (13) is rotatably connected with one end of the second support frame (11), and one end of the second support frame (11) is rotatably connected with one end of the first support frame (9).
4. The balance walking multi-legged robot of claim 3, characterized in that: be provided with first electronic pole (10) between first support frame (9) and second support frame (11), the both ends difference swivelling joint of first electronic pole (10) is on the side surface of first support frame (9) and second support frame (11), be provided with second electronic pole (12) between second support frame (11) and third support frame (13), the both ends difference swivelling joint of second electronic pole (12) is on the side surface of second support frame (11) and third support frame (13).
5. The balance walking multi-legged robot according to claim 3, characterized in that: and the lower end of the third support frame (13) is fixedly provided with a damping support leg (14).
6. The balance walking multipotent robot according to claim 4, wherein: the remote control circuit board is fixedly mounted in the middle of the upper surface of the mounting base plate (1) and is electrically connected with the first electric rod (10), the second electric rod (12) and the walking motor (5) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222365434.4U CN217967105U (en) | 2022-09-06 | 2022-09-06 | Balance walking multi-legged robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222365434.4U CN217967105U (en) | 2022-09-06 | 2022-09-06 | Balance walking multi-legged robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217967105U true CN217967105U (en) | 2022-12-06 |
Family
ID=84262433
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222365434.4U Active CN217967105U (en) | 2022-09-06 | 2022-09-06 | Balance walking multi-legged robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217967105U (en) |
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2022
- 2022-09-06 CN CN202222365434.4U patent/CN217967105U/en active Active
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