CN219706584U - Multi-foot obstacle surmounting robot - Google Patents
Multi-foot obstacle surmounting robot Download PDFInfo
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- CN219706584U CN219706584U CN202320469611.5U CN202320469611U CN219706584U CN 219706584 U CN219706584 U CN 219706584U CN 202320469611 U CN202320469611 U CN 202320469611U CN 219706584 U CN219706584 U CN 219706584U
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- 230000007246 mechanism Effects 0.000 claims abstract description 110
- 210000000689 upper leg Anatomy 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 12
- 210000002414 leg Anatomy 0.000 claims description 10
- 230000033001 locomotion Effects 0.000 abstract description 14
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 9
- 238000003756 stirring Methods 0.000 abstract description 5
- 239000011664 nicotinic acid Substances 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 240000007643 Phytolacca americana Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
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Abstract
The utility model discloses a multi-foot obstacle crossing robot which comprises a machine body, four sliding mechanisms, two walking mechanisms and a worm mechanism, wherein the four sliding mechanisms are arranged on the machine body; the four sliding mechanisms are symmetrically arranged on the machine body and connected with the worm mechanism, and the worm mechanism drives the sliding mechanisms to stir back and forth so as to realize the water sliding movement of the multi-foot obstacle crossing robot; the two walking mechanisms are symmetrically arranged on the left side and the right side of the machine body respectively and connected with the worm gear mechanism, and the worm gear mechanism drives the walking mechanisms to swing back and forth so as to realize land walking movement of the multi-foot obstacle crossing robot. The multi-foot obstacle crossing robot is braked by means of a direct current motor, is energy-saving and environment-friendly, and is convenient and simple to operate; and the bionic mechanical design is adopted, so that the water walking and land walking can be performed, the bionic mechanical water walking machine is suitable for various working environments, the whole size is small, and the manufacturing cost is low.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a multi-foot obstacle crossing robot.
Background
At present, most robots are mobile robots in a single propulsion mode on land or water, and few robots capable of adapting to walking on various terrains are available. The robot walking on land is mostly a conventional wheeled mobile robot. The robot has the characteristics of rapid and stable movement speed when running on relatively flat terrain, but greatly reduces efficiency when being applied to rough and bumpy terrain.
The mobility of the crawler robot in complex topography is still poor, and the appearance of the multi-legged walking robot in the background shows great advantages of the walking robot. Most of the water robots are propelled by engines, so that the operation flexibility is poor and the controllability is not strong. Most amphibious robots are robots which are large in size, complex in structure, high in price and extremely high in maintenance cost.
Disclosure of Invention
The utility model aims at overcoming the technical defects in the prior art and provides a multi-foot obstacle surmounting robot.
The technical scheme adopted for realizing the purpose of the utility model is as follows:
a multi-foot obstacle crossing robot comprises a machine body, four sliding mechanisms, two walking mechanisms and a worm mechanism; the four sliding mechanisms are symmetrically arranged on the machine body in pairs and connected with the worm mechanism, and the worm mechanism drives the sliding mechanisms to stir back and forth so as to realize the water sliding movement of the multi-foot obstacle crossing robot; the two walking mechanisms are symmetrically arranged on the left side and the right side of the middle of the machine body and connected with the worm mechanism, and the worm mechanism drives the walking mechanisms to swing back and forth so as to realize land walking movement of the multi-foot obstacle crossing robot.
In the technical scheme, the sliding mechanism comprises a connecting rod, a horizontal worm gear mechanism, a rotary joint, a thigh section, a rotary joint and a palm shifting part, wherein the horizontal worm gear mechanism is in transmission connection with the worm mechanism, one end of the connecting rod is connected with the horizontal worm gear mechanism, and the other end of the connecting rod penetrates through the rotary joint to be connected with the thigh section; one end of the swivel is connected with the rotary joint, the other end of the swivel is connected with the top end of the thigh section, and the bottom end of the thigh section is connected with the poking palm.
In the technical scheme, the walking mechanism comprises a crank, a vertical worm gear mechanism, a long leg, a rocker, a connecting rod and a short leg, wherein the vertical worm gear mechanism is in transmission connection with the worm mechanism, one end of the crank is connected with the vertical worm gear mechanism, the other end of the crank is connected with the rocker, and the rocker is connected with the top of the long leg; the long leg is connected with the middle part of the connecting rod, and the left side and the right side of the connecting rod are provided with short legs.
In the technical scheme, the worm mechanism comprises two rotating shafts which are arranged in parallel, a first worm, a second worm and a third worm are arranged on each rotating shaft, the first worm and the second worm are positioned at the front side and the rear side of the rotating shaft, the third worm is positioned at the middle part of the rotating shaft, and the first worm and the second worm are respectively connected with the sliding mechanism; the third worm is connected with the walking mechanism.
In the above technical solution, the multi-foot obstacle surmounting robot further includes: the two driving motors and the two gear mechanisms are symmetrically arranged on the front side and the rear side of the machine body, one driving motor is in transmission connection with one rotating shaft of the worm mechanism through one gear mechanism, and the other driving motor is in transmission connection with the other rotating shaft of the worm mechanism through the other gear mechanism.
The beneficial effects of the utility model are as follows:
1. the multi-foot obstacle crossing robot is braked by means of a direct current motor, is energy-saving and environment-friendly, and is convenient and simple to operate.
2. The multi-foot obstacle surmounting robot provided by the utility model adopts a bionic mechanical design, can perform water walking and land walking, is suitable for various working environments, and has the advantages of small whole volume and low manufacturing cost.
Drawings
Fig. 1 is a schematic structural view of a multi-foot obstacle surmounting robot according to the present utility model.
Fig. 2 shows a top view of the multi-foot obstacle surmounting robot of the utility model.
Fig. 3 is a schematic diagram showing the principle of movement of the slide mechanism of the present utility model.
Fig. 4 is a left side view of the multi-foot obstacle surmounting robot of the present utility model.
Fig. 5 is a schematic diagram showing the motion principle of the walking mechanism of the utility model.
Fig. 6 is a schematic diagram of the motion principle of the gear mechanism of the present utility model.
In the figure: 1-organism, 2-slide mechanism, 2-1-connecting rod, 2-2-horizontal worm gear mechanism, 2-3-rotary joint, 2-4-strand festival, 2-5-swivel, 2-6-palm, 3-walking mechanism, 3-1-crank, 3-2-vertical worm gear mechanism, 3-3-long foot, 3-4-rocker, 3-5-connecting rod, 3-6-short foot, 4-worm mechanism, 4-1-first worm, 4-2-second worm, 4-3-third worm, 5-driving motor, 6-gear mechanism, 6-1-first gear, 6-2-second gear, 6-3-third gear.
Detailed Description
The present utility model will be described in further detail with reference to specific examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model.
A multi-foot obstacle-surmounting robot, see fig. 1, the multi-foot obstacle-surmounting robot comprising: a machine body 1, four sliding mechanisms 2, two walking mechanisms 3 and a worm mechanism 4.
The four sliding mechanisms 2 are symmetrically arranged on the machine body 1 in pairs and connected with the worm mechanism 4, and the worm mechanism 4 drives the sliding mechanisms 2 to stir back and forth so as to realize the water sliding movement of the multi-foot obstacle crossing robot; the two walking mechanisms 3 are symmetrically arranged on the left side and the right side of the middle of the machine body 1 and are also connected with the worm mechanism 4, and the worm mechanism 4 drives the walking mechanisms 3 to swing back and forth so as to realize the land walking motion of the multi-foot obstacle surmounting robot.
Specifically, the method comprises the following steps: referring to fig. 2 and 3, the sliding mechanism 2 is composed of a connecting rod 2-1, a horizontal worm gear mechanism 2-2, a rotary joint 2-3, a thigh section 2-4, a rotary joint 2-5 and a pulling palm 2-6, the horizontal worm gear mechanism 2-2 is in transmission connection with the worm mechanism 4, one end of the connecting rod 2-1 is connected with the horizontal worm gear mechanism 2-2, and the connecting rod 2-1 is driven to be pulled back and forth through the horizontal worm gear mechanism 2-2; the other end of the connecting rod 2-1 penetrates through the rotary joint 2-3 to be connected with the thigh section 2-4, and drives the thigh section 2-4 to stir back and forth; one end of the rotary joint 2-5 is connected with the rotary joint 2-3, and the other end of the rotary joint is connected with the top end of the thigh section 2-4, so that structural integrity is realized, and the poking palm 2-6 connected with the bottom end of the thigh section 2-4 is driven to poke back and forth, so that the multi-foot obstacle crossing robot can realize water sliding movement.
Referring to fig. 2, 4 and 5, the walking mechanism 3 consists of a crank 3-1, a vertical worm gear mechanism 3-2, a long foot 3-3, a rocker 3-4, a connecting rod 3-5 and a short foot 3-6, wherein the vertical worm gear mechanism 3-2 is in transmission connection with the worm mechanism 4, one end of the crank 3-1 is connected with the vertical worm gear mechanism 3-2, the other end of the crank 3-1 is connected with the rocker 3-4, the rocker 3-4 is connected with the top of the long foot 3-3, the crank 3-1 is driven to move through the vertical worm gear mechanism 3-2, and the crank 3-1 drives the long foot 3-3 to do back-and-forth swinging movement through the rocker 3-4; the long foot 3-3 is connected with the middle part of the connecting rod 3-5, the short feet 3-6 are arranged on the left side and the right side of the connecting rod 3-4, and the connecting rod 3-5 swings back and forth along with the long foot 3-3 to realize alternate walking movement, so that the land walking movement of the multi-foot obstacle crossing robot is realized.
Further, the worm mechanism 4 comprises two rotating shafts which are arranged in parallel, a first worm 4-1, a second worm 4-2 and a third worm 4-3 are arranged on each rotating shaft, the first worm 4-1 and the second worm 4-2 are positioned at the front side and the rear side of the rotating shafts, the third worm 4-3 is positioned at the middle part of the rotating shafts, and the first worm 4-1 and the second worm 4-2 are respectively connected with the sliding mechanism 2 and used for driving the sliding mechanism 2 to stir forwards and backwards; the third worm 4-3 is connected with the walking mechanism 3 and is used for driving the walking mechanism 3 to swing back and forth.
Further, the multi-foot obstacle surmounting robot further comprises: the two driving motors 5 and the two gear mechanisms 6 are symmetrically arranged on the front side and the rear side of the machine body 1, one driving motor is in transmission connection with one rotating shaft of the worm mechanism 4 through one gear mechanism, and the other driving motor is in transmission connection with the other rotating shaft of the worm mechanism 4 through the other gear mechanism.
Further, referring to fig. 6, the gear mechanism 6 includes: the first gear 6-1, the second gear 6-2 and the third gear 6-3, wherein the first gear 6-1 is connected with the driving motor 5 and is used for driving the first gear 6-1 to rotate so as to drive the second gear 6-2 meshed with the first gear 6-1 to rotate; the second gear 6-2 is meshed with the third gear 6-3 to drive the third gear 6-3 to rotate. Wherein the third gear 6-3 is connected with the rotating shaft of the worm mechanism 4.
Spatially relative terms, such as "upper," "lower," "left," "right," and the like, may be used in the embodiments for ease of description to describe one element or feature's relationship to another element or feature's illustrated in the figures. It will be understood that the spatial terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "under" other elements or features would then be oriented "over" the other elements or features. Thus, the exemplary term "lower" may encompass both an upper and lower orientation. The device may be otherwise positioned (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
While the utility model has been described by way of example, it should be noted that any simple modification, variation or other equivalent which would occur to those skilled in the art without departing from the spirit of the utility model, is within the scope of the utility model.
Claims (5)
1. The utility model provides a many feet obstacle crossing robot which characterized in that: comprises a machine body, four sliding mechanisms, two walking mechanisms and a worm mechanism; the four sliding mechanisms are symmetrically arranged on the machine body in pairs and are connected with the worm mechanism; the two walking mechanisms are symmetrically arranged on the left side and the right side of the middle of the machine body and are connected with the worm mechanism.
2. The multi-foot obstacle surmounting robot of claim 1, wherein: the sliding mechanism comprises a connecting rod, a horizontal worm gear mechanism, a rotary joint, a thigh section, a rotary joint and a palm shifting part, wherein the horizontal worm gear mechanism is in transmission connection with the worm mechanism, one end of the connecting rod is connected with the horizontal worm gear mechanism, and the other end of the connecting rod penetrates through the rotary joint and is connected with the thigh section; one end of the swivel is connected with the rotary joint, the other end of the swivel is connected with the top end of the thigh section, and the bottom end of the thigh section is connected with the poking palm.
3. The multi-foot obstacle surmounting robot of claim 1, wherein: the walking mechanism comprises a crank, a vertical worm gear mechanism, a long leg, a rocker, a connecting rod and a short leg, wherein the vertical worm gear mechanism is in transmission connection with the worm mechanism, one end of the crank is connected with the vertical worm gear mechanism, the other end of the crank is connected with the rocker, and the rocker is connected with the top of the long leg; the long leg is connected with the middle part of the connecting rod, and the left side and the right side of the connecting rod are provided with short legs.
4. The multi-foot obstacle surmounting robot of claim 1, wherein: the worm mechanism comprises two rotating shafts which are arranged in parallel, a first worm, a second worm and a third worm are arranged on each rotating shaft, the first worm and the second worm are positioned at the front side and the rear side of the rotating shafts, the third worm is positioned at the middle part of the rotating shafts, and the first worm and the second worm are respectively connected with the sliding mechanism; the third worm is connected with the walking mechanism.
5. The multi-foot obstacle detouring robot of claim 4, wherein: the multi-foot obstacle surmounting robot further comprises: the two driving motors and the two gear mechanisms are symmetrically arranged on the front side and the rear side of the machine body, one driving motor is in transmission connection with one rotating shaft of the worm mechanism through one gear mechanism, and the other driving motor is in transmission connection with the other rotating shaft of the worm mechanism through the other gear mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320469611.5U CN219706584U (en) | 2023-03-13 | 2023-03-13 | Multi-foot obstacle surmounting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320469611.5U CN219706584U (en) | 2023-03-13 | 2023-03-13 | Multi-foot obstacle surmounting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219706584U true CN219706584U (en) | 2023-09-19 |
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ID=87977738
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320469611.5U Active CN219706584U (en) | 2023-03-13 | 2023-03-13 | Multi-foot obstacle surmounting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219706584U (en) |
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2023
- 2023-03-13 CN CN202320469611.5U patent/CN219706584U/en active Active
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