CN219361204U - 8-foot motion platform - Google Patents

Abstract

The utility model discloses an 8-foot motion platform, which comprises a base and four groups of crab leg mechanisms which are respectively arranged at two sides of the base, wherein the base is provided with four groups of steering gears and four groups of mounting frames, the steering gears are used for driving the mounting frames to rotate around a vertical shaft, the four groups of crab leg mechanisms are respectively arranged on the four groups of mounting frames, each group of crab leg mechanisms comprises two crab legs and one motor, and the two crab legs in the same group are driven by one motor in the group; the crab legs comprise brackets and link mechanisms for driving the brackets to periodically move, and the link mechanisms on the two crab legs in the same group are driven by one motor. The utility model can realize 8-foot walking, has better adaptability to terrain, and compared with the traditional 8-foot robot, the utility model adopts fewer motors to realize the functions of platform walking, turning and the like.

Description

8-foot motion platform

Technical Field

The utility model relates to the technical field of robots, in particular to an 8-foot motion platform.

Background

Robots are functioning in many industries as intelligent devices that can replace or assist people in performing tasks such as control, production, etc. Robots can be divided into three categories, wheel type, crawler type and foot type, according to different movement types. Wheeled and tracked robots are relatively simple in structure, rapid and stable in movement, mature in technology and relatively universal in application. However, both wheeled robots and tracked robots need to be in continuous contact with the ground during movement, sometimes requiring more convenient movement by changing or creating special environmental conditions. Along with the social development and progress of human beings, the exploration of the unknown field is also continuously expanded, for example, in the fields of space exploration, marine survey, national defense technology, nuclear power industry, emergency rescue and the like, the scene wheel type and crawler type robots can not adapt to work by modifying the environment sometimes, but the requirements on the terrain environment are relatively low when the foot type robot works, and the foot point of the foot end of the foot type robot is not in continuous contact with the ground, so that the stable movement of the robot can be completed only by a small contact area under the complex environment; meanwhile, in the motion process, a parallel mechanism is generated by the body, the legs and the ground of the robot, the pose of the body can be adjusted to effectively adapt to the terrain conditions, the stability is ensured, the condition of the robot is not required to be adapted by changing the terrain, and the robot has remarkable advantages in processing the work of the robot in adapting to the complex terrain situation.

The 8-foot robot is a bionic robot which mainly simulates a crab advancing method to walk and is an important classification in the foot robot. However, the existing bionic crabs generally have the problems of more motors, higher cost, difficult maintenance of the posture after power failure, large battery consumption and the like.

Disclosure of Invention

The 8-foot motion platform provided by the utility model has the advantages that 8-foot walking is realized, the adaptability to the terrain is better, and compared with a traditional 8-foot robot, the 8-foot motion platform has the advantages that the functions of walking, turning and the like of the platform are realized by adopting fewer motors.

The 8-foot motion platform is characterized by comprising a base and four groups of crab leg mechanisms which are respectively arranged at two sides of the base, wherein the base is provided with four groups of steering gears and four groups of mounting frames, the steering gears are used for driving the mounting frames to rotate around a vertical shaft, the four groups of crab leg mechanisms are respectively arranged on the four groups of mounting frames, each group of crab leg mechanisms comprises two crab legs and a motor, and the two crab legs in the same group are driven by one motor in the group;

the crab legs comprise brackets and connecting rod mechanisms for driving the brackets to periodically move, and the two connecting rod mechanisms on the crab legs in the same group are driven by one motor;

the connecting rod mechanism comprises a driving rod, the driving rod is rotatably connected to the mounting frame, the driving rods on two crab legs in the same group are connected through a driving shaft, and the driving shaft is connected with the motor.

The steering engine is characterized in that four groups of C-shaped frames are arranged on the base, the steering engine is arranged in the C-shaped frames, one end of each C-shaped frame is connected to the steering engine through a rotary table, the other end of each C-shaped frame is connected to an output shaft of the steering engine, and the mounting frame is arranged on a body of the steering engine.

The utility model is further arranged that one end of the bracket is rotatably connected to the mounting frame through a first connecting rod, and the connecting rod mechanism is a crank rocker mechanism and is connected with the bracket.

The utility model is further arranged that the connecting rod mechanism comprises a driving rod, a second connecting rod and a third connecting rod, the driving rod, the second connecting rod, the third connecting rod and the mounting frame form a crank rocker mechanism, the third connecting rod is rotationally connected with the bracket, and the driving rod is driven by the motor to do circular motion.

The utility model is further characterized in that the tail end of the bracket is used for contacting the ground, and the tail end of the bracket is provided with a walking aid, wherein the walking aid is one of a rubber foot pad, a nail-shaped walking device and a disc-shaped landing device.

The utility model is further arranged that the motor is arranged at one end of the driving shaft and is directly connected with the driving shaft through a coupler or is connected with the driving shaft through a gear reducer.

The utility model is further characterized in that the driving shaft is provided with a turbine, and the motor is connected with a worm which is meshed with the turbine.

The utility model further provides that the mounting frame is provided with a protective cover.

In summary, the beneficial effects of the utility model are as follows:

1. the bionic crab disclosed by the utility model is designed by adopting 8 feet to walk, has lower requirements on terrain, can adapt to more complex environments, and is beneficial to being applied to the fields of space exploration, marine survey, national defense technology, nuclear power industry, emergency rescue and the like;

2. according to the utility model, two groups of crab legs are one group and driven by one motor, the steering of the platform is controlled by the steering engine, so that the use of the motor is reduced while the specific flexible control capability of the platform is ensured, and the motor is reduced, and meanwhile, a complex transmission structure is not increased;

3. the utility model has better gesture maintaining capability, records the gesture of each foot after the platform is powered off, and solves the problem that the gesture of the foot robot is difficult to maintain after the power off.

Drawings

FIG. 1 is a schematic overall structure of a first embodiment of the present utility model;

FIG. 2 is a schematic diagram of a front view of a first embodiment of the present utility model;

FIG. 3 is a schematic top view of a first embodiment of the present utility model;

FIG. 4 is a schematic view of the outside view of the crab leg in the present utility model;

FIG. 5 is a schematic view of the structure of the present utility model from the inside view of the crab leg;

fig. 6 is a schematic overall structure of a second embodiment of the present utility model.

In the figure, 1, a steering engine; 2. a C-shaped frame; 3. crab legs; 4. a motor; 5. a control board; 6. a protective cover; 7. a base; 8. a drive shaft; 11. a mounting frame; 12. a driving rod; 13. a third link; 14. a second link; 15. a first link; 16. and (3) a bracket.

Description of the embodiments

The following describes in detail the embodiments of the present utility model with reference to the drawings.

Embodiment one: referring to fig. 1-5, an 8-foot exercise platform comprises a base and four groups of crab leg 3 mechanisms respectively arranged on two sides of the base, wherein each side of the base is provided with 2 groups of crab leg 3 mechanisms.

The base is provided with four groups of steering gears 1 and four groups of mounting frames 11, the steering gears 1 are used for driving the mounting frames 11 to rotate around a vertical shaft, four groups of crab leg 3 mechanisms are respectively arranged on the four groups of mounting frames 11, each group of crab leg 3 mechanisms comprises two crab legs 3 and one motor 4, and the two crab legs 3 in the same group are driven by one motor 4 in the group.

Be provided with four C type framves 2 of group on the base 7, steering wheel 1 installs in C type frame 2, and the one end of C type frame 2 is passed through the carousel and is connected on steering wheel 1, and the other end is connected on the output shaft of steering wheel 1 for steering wheel 1 can rotate at C type frame 2. The mounting frame 11 is arranged on the body of the steering engine 1, and when the steering engine 1 works, the steering engine drives the steering engine and the mounting frame 11 to rotate, so that crab legs 3 are driven to rotate to realize steering.

The crab legs 3 comprise brackets 16 and link mechanisms for driving the brackets 16 to periodically move, and the link mechanisms on the two crab legs 3 in the same group are driven by one motor 4; the link mechanism comprises a driving rod 12, the driving rod 12 is rotatably connected to a mounting frame 11, the driving rods 12 on the two crab legs 3 in the same group are connected through a driving shaft 8, and the driving shaft 8 is connected with the motor 4.

One end of the bracket 16 is rotatably connected to the mounting frame 11 (tripod shown in the figure, fixedly mounted to the mounting frame 11 as an extension of the mounting frame 11) via a first link 15, and the link mechanism is a crank-rocker mechanism and is connected to the bracket 16. The link mechanism comprises a driving rod 12, a second link 14 and a third link 13, the driving rod 12, the second link 14, the third link 13 and the mounting frame 11 (tripod shown in the figure, which is fixedly mounted with the mounting frame 11 and is regarded as extension of the mounting frame 11) form a crank rocker mechanism, the third link 13 is rotationally connected with the bracket 16, and the driving rod 12 is driven by the motor 4 to do circular motion.

The tail end of the support 16 is used for contacting the ground, and a walking aid is arranged at the tail end of the support 16 and is one of a rubber foot pad, a spike-shaped walking device and a disk-shaped landing device. The end of the bracket 16 is provided with a mounting hole for mounting a walking aid, and one of a rubber foot pad, a nail-shaped walking device and a disc-shaped landing device is selected according to different application scenes. The tail end of the nail-shaped walker is of a nail-shaped structure and is used for being inserted into the ground, and the tail end of the disc-shaped floor-standing machine is of a disc-shaped structure and is used for walking on soft ground.

The motor 4 is mounted at one end of the drive shaft 8 and is directly connected to the drive shaft 8 via a coupling, and in other embodiments the motor 4 is connected to the drive shaft 8 via a gear reducer.

Embodiment two: referring to fig. 1-6, an 8-foot motion platform is different from the first embodiment in that a turbine is provided on the driving shaft 8, and the motor 4 is connected with a worm engaged with the turbine, so that the motor 4 is not provided at an end of the driving shaft 8 but provided at one side of the driving shaft 8, and an output shaft of the motor 4 is perpendicular to the driving shaft 8. The mounting frame 11 is provided with a protective cover 6 for protecting the worm and gear mechanism.

On the base, through screw installation and control panel 5, be provided with the controller module that is used for controlling the platform on the control panel 5.

The foregoing is merely a preferred embodiment of the present utility model, and it should be noted that modifications and improvements could be made by those skilled in the art without departing from the inventive concept, which falls within the scope of the present utility model.

Claims (8)

1. The 8-foot motion platform is characterized by comprising a base and four groups of crab leg (3) mechanisms which are respectively arranged at two sides of the base, wherein the base is provided with four groups of steering gears (1) and four groups of mounting frames (11), the steering gears (1) are used for driving the mounting frames (11) to rotate around a vertical shaft, the four groups of crab leg (3) mechanisms are respectively arranged on the four groups of mounting frames (11), each group of crab leg (3) mechanism comprises two crab legs (3) and one motor (4), and the two crab legs (3) in the same group are driven by one motor (4) in the same group;

the crab legs (3) comprise brackets (16) and link mechanisms for driving the brackets (16) to periodically move, and the link mechanisms on the two crab legs (3) in the same group are driven by one motor (4);

the connecting rod mechanism comprises a driving rod (12), the driving rod (12) is rotatably connected to the mounting frame (11), the driving rods (12) on the two crab legs (3) in the same group are connected through a driving shaft (8), and the driving shaft (8) is connected with the motor (4).

2. The 8-foot motion platform according to claim 1, wherein four groups of C-shaped frames (2) are arranged on the base (7), the steering engine (1) is installed in the C-shaped frames (2), one end of the C-shaped frames (2) is connected to the steering engine (1) through a rotary disc, the other end of the C-shaped frames is connected to an output shaft of the steering engine (1), and the installation frame (11) is installed on a body of the steering engine (1).

3. The 8-foot exercise platform of claim 2, wherein one end of the bracket (16) is rotatably connected to the mounting frame (11) by a first link (15), and the link mechanism is a crank-rocker mechanism and is connected to the bracket (16).

4. A 8-foot exercise platform according to claim 3, wherein the linkage mechanism comprises a driving rod (12), a second connecting rod (14) and a third connecting rod (13), the driving rod (12), the second connecting rod (14), the third connecting rod (13) and the mounting frame (11) form a crank rocker mechanism, the third connecting rod (13) is rotationally connected with the bracket (16), and the driving rod (12) is driven by the motor (4) to do circular motion.

5. The 8-foot exercise platform of claim 4, wherein the end of the bracket (16) is configured to contact the ground, and wherein a walking aid is provided at the end of the bracket (16), the walking aid being one of a rubber foot pad, a spike walker, and a disk-shaped floor stand.

6. The 8-foot exercise platform of claim 4, wherein the motor (4) is mounted at one end of the drive shaft (8), directly connected to the drive shaft (8) through a coupling, or connected to the drive shaft (8) through a gear reducer.

7. The 8-foot exercise platform of claim 4, wherein the drive shaft (8) is provided with a worm gear, and the motor (4) is connected with a worm gear which is meshed with the worm gear.

8. The 8-foot exercise platform of claim 6 or 7, wherein the mounting frame (11) is provided with a protective cover (6).