JP2022120774A - Multilegged robot - Google Patents

Abstract

To provide a multilegged robot that is applied in a mountain district, hardly causes rattling and can be elongated in service life effectively.SOLUTION: A multilegged robot includes a running mechanism. a transmitting mechanism, a steering mechanism, a damper mechanism, a stabilizing mechanism and a supporting mechanism. The running mechanism includes at least a pair of leg part structures, where the leg part structures include main cylinders (1), main cylinders (2), connection rods, knee motion poles, shin motion cylinders, shin supporting members (1), shin supporting members (2) and foot plates. The transmitting mechanism includes a servo motor, a spline shaft, a cross-shaped universal joint (1), a connection shaft (1), a cross-shaped universal joint (2), a connection shaft (2), a cross-shaped universal joint (3), a connection shaft (3) and a connection wheel. The steering mechanism includes a motor, a worm gear structure, and a towing structure. The damper mechanism includes a damper base, a main damper, a sub damper, a steering active base and a steering/towing case.SELECTED DRAWING: Figure 1

Description

TECHNICAL FIELD The present invention relates to the field of robotic technology, and more particularly to multi-legged robots.

With the development of science and technology, applications of robots are becoming more and more widespread in various fields. The southwestern region of China has complex mountains, and natural disasters such as debris flows occur frequently. Robots with flexible behavior and diverse functions can play an important role when natural disasters or other accidents occur and rescue is needed. Most of the conventional multi-legged robots are applied to flat roads, and when traveling on undulating mountain roads, they are prone to rattling and falling, which affects the stability of multi-legged robots and their structural members. is easily damaged after being subjected to multiple vibrations, shortening the service life of the multi-legged robot.

The present invention has been made in view of the above-mentioned conventional problems, and when applied to mountainous areas and traveling on undulating mountain roads, the present invention has relatively high stability, is less likely to rattle, and has an effective service life. It is an object of the present invention to provide a multi-legged robot that is elongated to a length.

In order to achieve the above object, the present invention employs the following technical proposals.

A multi-legged robot including a running mechanism, a transmission mechanism, a steering mechanism, a damper mechanism, a stabilizing mechanism and a supporting mechanism.

The running mechanism includes at least a pair of leg structures, the leg structures comprising a main cylinder 1, a main cylinder 2, a connecting rod, a knee exercise ball, a shin exercise cylinder, a shin support member 1, comprising a shin support member 2 and a foot plate, the lower end of the main cylinder 1 is connected to the outer wall of the knee exercise ball, the lower end of the main cylinder 2 is fitted with the knee exercise ball to form a spherical pair, The lower end of the connecting rod is connected to the middle part of the shin support member 2, the upper end of the shin exercise cylinder is connected to the outer wall of the knee exercise ball, and the lower end is pivotally connected to the upper end of the shin support member 1. , the lower end of the shin support member 1 is connected to the top of the foot plate, the upper end of the shin support member 2 is fitted to the knee exercise ball to form a spherical pair, and the lower end is the middle part of the shin support member 1. connected by rotating to

Each leg structure corresponds to one transmission mechanism. The transmission mechanism includes a servomotor, a spline shaft, a cruciform universal joint 1, a connecting shaft 1, a cruciform universal joint 2, a connecting shaft 2, a cruciform universal joint 3, and a connecting shaft. and a connection wheel, the output shaft of the servo motor is connected to one end of the spline shaft by a joint, and the other end of the spline shaft is connected to one end of the connection shaft by a cross-shaped universal joint. , the other end of the connecting shaft 1 is connected to one end of the connecting shaft 2 by a cross-shaped universal joint 2, the other end of the connecting shaft 2 is connected to one end of the connecting shaft 3 by a cross-shaped universal joint 3, and the connection A bearing 1 is fitted on the middle part of the shaft 3, the connecting wheel is mounted on the other end of the connecting shaft 3, the upper end of the main cylinder 2 is fitted on the outer side of the bearing 1, and the upper end of the connecting rod is connected to the connection wheel.

The steering mechanism includes a motor, a worm gear structure, and a traction structure, wherein the worm gear structure includes a worm wheel mounted on the motor output shaft and a worm transmission-fitted to the worm wheel. The steering mechanism corresponds to a pair of leg structures, the traction structures are two in number, each corresponding to two leg structures of the pair of leg structures in a one-to-one manner, and the traction structures One end is connected to the end of the worm and the other end is connected to a damper mechanism or transmission mechanism.

The damper mechanism and the leg structure are provided in one-to-one correspondence. The damper mechanism includes a damper base, a main damper, a sub-damper, a steering active base, and a steering traction case, wherein the damper base is mounted on a back plate and an outer wall of the back plate from top to bottom. An upper damper plate and a lower damper plate that are sequentially provided, and a main damper upper fixed base and a sub-damper upper fixed base that are sequentially provided above the back plate, and the upper end of the main damper is on the main damper upper fixed base. The lower end of the sub-damper is mounted on the upper damper plate, the upper end of the sub-damper is mounted on the sub-damper upper fixed base, the lower end is mounted on the lower damper plate, one end of the upper damper plate is connected to the back One end of the lower damper plate is connected to the back plate, and the other end of the lower damper plate forms a spherical pair with the steering active base. and the steering tow case is connected to the steering active base.

Furthermore, the stabilization mechanism employs a gyro-stabilization device. A seat is mounted above the gyro-stabilizing device.

Further, said support mechanism is a frame structure surrounded by a plurality of support rods.

In addition, the knee exercise ball includes a sphere, and an exercise groove 1 and an exercise groove 2 respectively formed inside the sphere. , is fitted in the movement groove 1 and is fitted with the movement groove 1 to form a spherical pair, and the upper end of the shin support member 2 is provided with a movement ball 2, the movement ball 2 is formed in the movement groove. It is fitted and installed in the second, and is fitted with the movement groove two to form a spherical pair.

Further, a planetary speed reducer is mounted on the output shaft of the servomotor, and the connecting shaft 1 is inclined.

Further, the traction structure includes a traction block 1, a traction block 2, and a folding block, wherein the folding block adopts a hinge structure and is pivotally connected to hinge structure part 1 and hinge structure part 2. wherein the lower end of the traction block 1 is connected to the end of the worm, the upper end is connected to one end of the traction block 2, the other end of the traction block 2 is connected to the hinge structure 1, and the hinge Structural part two is connected to the steering active base.

Further, the upper end of the main cylinder 1 is mounted on a support mechanism and is pivotally connected to a support rod in the support mechanism by a bearing 2, and the bearing 2 is fitted on the support rod.

Further, both the main damper and the sub-damper adopt a spring or a damper, the number of the main damper is one, the number of the sub-damper is two, and the two sub-damper are located on both sides below the main damper. are provided symmetrically to the

Further, a motor mounting base is mounted on the inner wall of the back plate, both the servomotor and the motor are mounted on the motor mounting base, and the main damper upper fixed base is mounted on the top of the motor mounting base. , the sub-damper upper fixed base is mounted on the side wall of the motor mounting base.

Further, the steering active base includes a steering active base body, a motion groove 3 and a motion groove 4 sequentially formed in the steering active base body, and a motion ball 3 is provided at the end of the upper damper plate, The motion ball 3 is fitted in the motion groove 3 and is fitted with the motion groove 3 to form a spherical pair. is fitted and installed in the movement groove 4, and is fitted with the movement groove 4 to form a spherical pair.

Further, a position regulating plate is provided above the motor mounting base, and an end of the position regulating plate is connected onto the main damper upper fixed base.

As can be seen from the above technical solutions, the multi-legged robot according to the present invention has relatively high stability when applied to mountains and travels on undulating mountain roads, and is less likely to rattle. Effectively prolong life.

1 is a structural schematic diagram of the present invention; FIG. Fig. 1 is a schematic view of a mounting structure of a traveling mechanism, a transmission mechanism, a steering mechanism and a damper mechanism; FIG. 2 is a schematic diagram 2 of the mounting structure of the traveling mechanism, the transmission mechanism, the steering mechanism and the damper mechanism; Fig. 3 is a schematic diagram 3 of the mounting structure of the traveling mechanism, the transmission mechanism, the steering mechanism and the damper mechanism; Fig. 4 is a schematic diagram of the mounting structure of the traveling mechanism, the transmission mechanism, the steering mechanism and the damper mechanism; It is a mounting structure schematic diagram of a traveling mechanism, a transmission mechanism, and a steering mechanism. Fig. 2 is a schematic diagram of the mounting structure of main cylinder 1, main cylinder 2, knee exercise ball, shin exercise cylinder and shin support member 2, in which the knee exercise ball portion is a sectional view; It is a structural schematic diagram of a transmission mechanism. FIG. 4 is a structural schematic diagram of a steering mechanism; It is a structural schematic diagram of a damper mechanism. FIG. 2 is an exploded structural schematic view of the damper mechanism, in which the steering active base portion is a cross-sectional view;

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings.

As shown in FIG. 1, the multi-legged robot according to the present invention includes a traveling mechanism 100, a transmission mechanism 200, a steering mechanism 300, a damper mechanism 400, a stabilizing mechanism 500, and a supporting mechanism 600. The stabilizing mechanism 500 adopts the gyro-stabilizing device in the prior art, and may install a seat above the gyro-stabilizing device, which is used to transport the injured when disaster occurs. The model number of the gyro stabilizer is FREEFLY MOVI M5. A seat is mounted above the gyro-stabilizing device and used for the patient to sit on. The stabilizing mechanism 500 is used to ensure the running stability of the multi-legged robot and avoid rattling. The support mechanism 600 is a frame structure surrounded by a plurality of support rods 601 . As can be seen from FIG. 1, the numbers of transmission mechanisms 200, leg structures and damper mechanisms 400 are equal, and the three are provided in one-to-one correspondence. One steering mechanism corresponds to two leg structures provided symmetrically. The number of stabilization mechanism 500 and support mechanism 600 is one.

As shown in FIGS. 2 to 6, the traveling mechanism 100 includes at least one pair of leg structures. The leg structure includes a main cylinder 101, a main cylinder 2 102, a connecting rod 103, a knee exercise ball 104, a shin exercise cylinder 105, a shin support member 106, a shin support member 2 107, and a leg. plate 108; The lower end of the main cylinder 101 is connected to a mounting holder 1 mounted on the outer wall of the knee exercise ball 104 . The lower end of the main cylinder 102 is fitted with the knee exercise ball 104 to form a spherical pair. The lower end of the connecting rod 103 is connected to the middle part of the second shin support member 107 . The upper end of the shin exercise cylinder 105 is pivotally connected to a mounting holder 2 mounted on the outer wall of the knee exercise ball 104 by a rotation shaft, and the lower end is pivoted to the upper end of the shin support member 106 by a rotation shaft. connected. In this way, traction assist force is generated when rotating, and structural stability is ensured without tearing due to excessive biasing force. By providing the mounting holder 1 and the mounting holder 2, the main cylinder 1, the shin exercise cylinder and the knee exercise ball are connected, and the main cylinder 1 and the shin exercise cylinder are not directly inserted into the knee exercise ball. This is to reduce the stress that the knee exercise ball bears, prolong the service life of the knee exercise ball, and facilitate replacement of parts. The lower end of the shin support member 106 is fixedly or pivotally connected to the top of the foot plate 108 . The upper end of the shin support member 2 107 is fitted with the knee exercise ball 104 forming a spherical pair, and the lower end is pivotally connected to the middle part of the shin support member 106 by the bearing 3 115 .
As shown in FIG. 7 , the knee exercise ball 104 includes a sphere 109 , an exercise groove 110 and an exercise groove 2 111 respectively formed inside the sphere. An exercise ball 112 is provided, and the exercise ball 112 is fitted and mounted in the exercise groove 110 and is fitted with the exercise groove 110 to form a spherical pair. A second ball 113 is provided, and the second moving ball 113 is fitted into the second moving groove 111 and fitted with the second moving groove 111 to form a spherical pair. The upper end of the main cylinder 101 is mounted on the support mechanism 600 and is pivotally connected to a support rod in the support mechanism 600 by a bearing 2114, the bearing 114 is fitted on the support rod 601. be done. Exercise groove one 110 is connected to exercise ball one 112 to form a spherical pair, exercise groove two 111 is connected to exercise ball two 113 to form a spherical pair, while main cylinder two 102 and shin support member two are connected. The range of motion of 107 can be limited, while the motion of the running mechanism can be made more flexible.

The multi-legged robot according to the present invention is applied to undulating mountain roads, and is mainly used to transport sick and injured people when various disasters occur. In order to ensure the safety and stability of the patient during the transport process, the present invention has made an innovative design for the leg structure of the multi-legged robot.

First of all, the mechanical dog in the prior art adopts a lot of hydraulic devices and electric control devices, which improves the controllability of the movement process of the mechanical dog. Therefore, when subjected to external interference such as vibration, wind force or magnetic field, the hydraulic system and electric control system are likely to run out of control, affecting the normal operation of the mechanical dog. When employing this type of mechanical dog to rescue people in the event of a disaster, there is a risk of being stuck on a rough mountain road and being trapped a second time. The leg structure in the present invention transforms the electrical control structure into a number of mechanical structures, thus allowing the movement of the leg structure with the mechanical structure as its main body when subjected to external interference such as vibration, wind force or magnetic field. is unaffected, has a more stable locomotion process, and is suitable for transporting casualties in rugged mountain environments. The multi-legged robot according to the present invention includes a six-legged structure, thus having a larger contact area with the ground and a higher stability of motion, when running on rugged mountain roads, It is difficult for the patient to fall over, and it plays a role in protecting the injured person located above, and the injured person is prevented from falling down with the robot and suffering secondary damage.

Next, the leg structure of the present invention imitates the human leg structure and is divided into four parts: crotch, knee, shin and foot plate. Main cylinder 1 and main cylinder 2 constitute the crotch, The knee exercise ball is the knee, and the shin exercise cylinder, shin support member 1 and shin support member 2 are the shin. Main cylinder 1 and main cylinder 2 arranged on both sides constitute the crotch, and by controlling the movement of the main cylinder 1 and main cylinder 2, the shin part is subjected to biasing forces of different directions and magnitudes. It is possible to diversify the exercise form of the shin part and meet the demand of transporting the sick and wounded on rugged mountain roads. To make the movement of the leg structure of a robot more flexible by providing a knee motion ball as a knee and connecting the knee motion ball with a main cylinder and a shin motion cylinder in a spherical pair. At the same time, the position limiting action of the motion grooves allows the leg structure of the robot to move only within a certain stroke range, ensuring stability when traveling on rough mountain roads and avoiding overturning. In addition, when the multi-legged robot according to the present invention is subjected to vibration while traveling on undulating mountain roads, the installation of the knee exercise ball and the connection method of the leg and shin with it can partially reduce the vibration. The safety of the patient seated above is ensured.

In addition, most of the robots such as mechanical dogs in the prior art adopt bearings as knee joints and chain transmission structures. Chain fixing adopting soft transmission is to fix the gears on both sides, apply tension from both sides to the center, act on the bearings, and any of the rest of the structure is supported by the bearings. Such designs subject the bearings to over-biasing and damage. The present invention adopts a knee exercise ball as the knee joint of the leg structure, and disperses the biasing force by connecting in a spherical pair to avoid the knee joint from receiving a relatively concentrated biasing force. And the leg structure of the present invention does not adopt chain transmission, but uses connecting rods to transmit, and the points connected by the connecting rods are arranged on the lower shin support member 2, thus both sides Even if the tension is applied from the center to the center, part of the tension can be received by the connecting rod, which reduces the stress concentration on the knee exercise ball and prolongs the life of the knee exercise ball. In addition, the multiple actions of the main cylinder 1, the main cylinder 2, the shin movement cylinder, the connecting rod and the transmission mechanism can make the movement of the leg structure more flexible. When running, the whole movement is more harmonious, more flexible and convenient, and you won't get stuck in a hollow.

Each leg structure corresponds to one transmission mechanism 200 . As shown in FIG. 8, the transmission mechanism 200 includes a servomotor 201, a spline shaft 204, a cross universal joint 205, a connecting shaft 206, a cross universal joint 207, which are connected in sequence. It includes a shaft two 208 , a cross-shaped universal joint three 209 , a connecting shaft three 210 and a connecting wheel 211 . A planetary speed reducer 202 is mounted on the output shaft of the servomotor 201 . The output shaft of the servo motor 201 is connected to one end of a spline shaft 204 by a joint 203, and the other end of the spline shaft 204 is connected to one end of a connection shaft 206 by a cross-shaped universal joint 205. The other end of 206 is connected to one end of connection shaft 2208 by cross-shaped universal joint 207, and the other end of connection shaft 2208 is connected to one end of connection shaft 3210 by cross-shaped universal joint 3209. A bearing 212 is fitted in the central portion of the connecting shaft 3210 . The connecting shaft 206 is inclined. The cross-shaped universal joint 3 209 makes the patient seated upward more comfortable because the legs rotate when steering, but the main body does not rotate. The connecting wheel 211 is mounted on the other end of the connecting shaft 3210, the upper end of the main cylinder 2102 is fitted on the outer side of the bearing 212, and the upper end of the connecting rod 103 is pivotally connected to the connecting wheel 211. connected as Servo motor 201 is mounted on motor mounting base 307 . The steering traction case 405 is installed outside the upper end of the main cylinder 2 102 .

Servo motor 201 operates to drive spline shaft 204 to rotate, spline shaft 204 drives connecting shaft 206 to rotate, and connecting shaft 206 drives connecting shaft 208 to rotate. The connecting shaft two 209 drives the connecting shaft three 210 to rotate, and the connecting shaft three 210 drives the bearing one 212 and the connecting wheel 211 to rotate. By adopting a cross-shaped universal joint to connect each shaft, it is possible to avoid vibration and impact on each member of the transmission mechanism when the traveling mechanism travels on a mountain road with many ups and downs. To ensure the stability of the operation of members and to prolong the service life of each member in the transmission mechanism. When the cylinder rods of the main cylinder 101 and the main cylinder 2 102 are telescopically moved, the joint biasing force of both on the knee exercise ball is on the central axis of the shin support member to realize the leg raising and lowering motion. The connecting rod 103 is pivotally connected to the connecting wheel 211 , so that when the connecting wheel 211 rotates, it drives the connecting rod into motion and also exerts a biasing force on the shin support member 2107 . , move the shin support member 2107 connected to the lower end of the connecting rod. Since the upper end of the shin support member 2 is connected to the knee exercise ball forming a spherical pair, the shin support member 2 107 is rotated within a certain angular range by the driving of the connecting rod, thereby raising and lowering the shin. play a supporting role in movement. The shin motion cylinder 105, the shin support member 106 and the foot plate 108 form a seesaw structure, and when the cylinder rod of the shin motion cylinder 105 extends, the upper end of the shin support member 106 [G1] moves downward. When the foot plate 108 provided at the bottom of the shin support member 106 [G2] rises and the cylinder rod of the shin motion cylinder 105 contracts, the upper end of the shin support member 106 [G3] moves upward. , and the foot plate 108 provided at the bottom of the shin support member 106 [G4] is lowered. Since the main application of the multi-legged robot according to the present invention is to rescue the sick and injured on rugged mountain roads, the present invention is designed to drive the connecting rod into motion by a transmission mechanism, In this way, even if the foot plate is stuck in a muddy area, the connecting rod can be driven by the transmission mechanism to cooperate with the motion of the multiple cylinders, and the robot can easily leave the robot. Make the whole movement more coordinated.

As shown in FIG. 9, the steering mechanism 300 includes a motor 301, a worm gear structure and a traction structure, wherein the worm gear structure includes a worm wheel 302 mounted on the output shaft of the motor 301 and a and a worm 303 engaged in transmission, the number of said traction structures being two, each corresponding to two leg structures of a pair of leg structures in one-to-one correspondence, said traction One end of the structure is connected to the end of the worm 303 and the other end is connected to a damper or transmission mechanism. The traction structure includes a traction block 1 304, a traction block 2 305 and a folding block 306, wherein the folding block 306 adopts a hinge structure and is pivotally connected to the hinge structure 1 and the hinge structure. The lower end of the traction block 304 is connected to the end of the worm 303 by the bearing 4309, the upper end is connected to one end of the traction block 2305, and the other end of the traction block 305 is , is connected to the hinge structure part 1, and the hinge structure part 2 is connected to the steering active base 405.

The motor 301 operates to drive the worm wheel to rotate, the worm meshingly connected to the worm wheel moves left and right along its axial direction, and the traction structures provided at both ends of the worm are , moves left and right with the worm, and further drives the steering active base 404 connected to the traction structure to move together. Since the steering active base and the damper base are connected in a spherical pair, the steering of the traveling mechanism can be realized when the steering active base moves together with the worm gear mechanism. The present invention adopts a worm gear structure for steering traction, which can improve the steering precision and accuracy of the multi-legged robot, thus making it safer when traveling on rugged mountain roads. The running mechanism tends to rattle when running on undulating mountain roads. By designing the folding block as a hinge structure, even if the running mechanism rattles, the vibration force received by the running mechanism is reduced. In the upward transmission process, the two hinge structures move relative to each other to avoid transmitting the vibration force to other rigidly connected members and damaging the other members.

As shown in FIGS. 10 and 11, the damper mechanism 400 includes a damper base, a main damper 401, a sub damper, a steering active base 404, and a steering traction case 405. FIG. Both the main damper and the sub-damper employ springs or dampers. The number of the main damper 401 is one, and the number of the sub-dampers is two, namely, the first sub-damper 402 and the second sub-damper 403. The two sub-dampers are provided symmetrically on both sides below the main damper 401. be done.

The damper base includes a back plate 406 , an upper damper plate 407 and a lower damper plate 408 sequentially provided on the outer wall of the back plate 406 from top to bottom, and a main damper plate 407 and a lower damper plate 408 sequentially provided above the back plate 406 . A damper upper fixed base 409 and a sub-damper upper fixed base 410, the upper end of the main damper 401 is mounted on the main damper upper fixed base 409, the lower end is mounted on the upper damper plate 407, and the upper end of the sub-damper is mounted on the sub-damper upper fixed base 410, the lower end is mounted on the lower damper plate 408, one end of the upper damper plate 407 is connected on the back plate 406, and the other end is the steering active base 404 One end of the lower damper plate 408 is connected to the back plate 406 and the other end is fitted to the steering active base 404 to form a spherical pair, and the steering traction case 405 is connected to steering active base 404 . A motor mounting base 307 is mounted on the inner wall of the back plate 406, the motor 301 is mounted on the motor mounting base 307, and the main damper upper fixing base 409 is mounted on the top of the motor mounting base 307. . The main damper upper fixing base 409 is not designed to be mounted on the motor mounting base and integrated with the damper base. This is to ensure the stability of the connections between the entire structure and avoid collapsing in the course of multiple vigorous exercises. A position regulating plate 308 is provided above the motor mounting base 307 , and the end of the position regulating plate 308 is connected to the main damper upper fixed base 409 . Used to ensure the stability of the mounting structure. The sub-damper upper fixed base 410 is mounted on the side wall of the motor mounting base 307 . The steering active base 404 includes a steering active base body 411 , and a motion groove 3 412 and a motion groove 4 413 that are sequentially formed in the steering active base body 411 . 414 , the motion ball 3414 is fitted and installed in the motion groove 3412 and is fitted with the motion groove 3412 to form a spherical pair, and the motion ball 414 is mounted on the end of the lower damper plate 408 . A 4415 is provided, and the kinetic ball 415 is fitted and installed in the kinetic groove 413 and is fitted with the kinetic groove 43 to form a spherical pair.

When the running mechanism is running on an undulating mountain road, when a violent movement occurs, the vibration force received by the foot plate is transmitted upward along the running mechanism and transmitted to the upper end of the main cylinder 2. When this happens, the steering traction case connected to the upper end of the main cylinder vibrates upward, and part of the vibration can be offset by the action of the weight of the entire multi-legged robot. Furthermore, a part of the vibration force is transmitted to the intermediate position along the steering traction case, and the steering traction case transmits the vibration force to the steering active base, and the steering active base first moves the lower damper plate located on the lower side. The steering active base transmits the vibration force to the two sub-dampers via the upper damper plate, which can partially cancel out the vibration. transmission to the damper, the upper damper can cancel some of the vibration. The main damper upper fixed base is arcuate, convex upwards, and this structure is a recurve design, which can play a certain damping role. The damper structure of the present invention not only uses the main damper and two sets of sub-dampers for damping, but also uses the rigidity of the entire structure to dampen to maximize the vibration cancellation and ensure the stability of the robot. do. Since the multi-legged robot according to the present invention is used for transporting the sick and wounded in an undulating mountain road environment, from the viewpoint of the special use environment, the damper structure in the present invention is a multi-layered spatial arrangement, The suspension damper method is adopted to enhance the damper effect, the main damper [G5] and the sub-damper are arranged sequentially from top to bottom, and the main damper and the sub-damper are installed at an angle to eliminate vertical spatial deviation. In this way, the occurrence of vibration is alleviated by the oblique reaction force, and the damper effect can be maximized instead of directly suppressing it with gravity or reaction force, and the injured seated above does not affect people.

The above-described embodiments merely describe preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any of the various modifications and improvements made to the technical solution of the invention shall fall within the protection scope determined by the claims of the invention.

100, traveling mechanism, 101, main cylinder 1, 102, main cylinder 2, 103, connecting rod, 104, knee exercise ball, 105, shin exercise cylinder, 106, shin support member 1, 107, shin support member 2, 108, foot plate 109, sphere 110, motion groove 1, 111, motion groove 2, 112, motion ball 1, 113, motion ball 2, 114, bearing 2, 115, bearing 3, 200, transmission mechanism 201, servo motor , 202, planetary reducer, 203, joint, 204, spline shaft, 205, cross-shaped universal joint 1, 206, connection shaft 1, 207, cross-shaped universal joint 2, 208, connection shaft 2, 209, cross-shaped universal joint 3, 210, connecting shaft 3, 211, connecting wheel, 212, bearing 1, 300, steering mechanism, 301, motor, 302, worm wheel, 303, worm, 304, traction block 1, 305, traction block 2, 306, Folding block 307 Motor mounting base 308 Position regulating plate 309 Bearing 4 400 Damper mechanism 401 Main damper 402 Sub damper 1 403 Sub damper 2 404 Steering active base 405 Steering traction Case, 406, back plate, 407, upper damper plate, 408, lower damper plate, 409, main damper upper fixing base, 410, sub-damper upper fixing base, 411, steering active base body, 412, motion groove 3, 413, motion groove 4 414 exercise ball 3 415 exercise ball 4 500 stabilization mechanism 600 support mechanism 601 support rod

Claims (10)

including a running mechanism (100), a transmission mechanism (200), a steering mechanism (300), a damper mechanism (400), a stabilization mechanism (500) and a support mechanism (600);
Said running mechanism (100) comprises at least a pair of leg structures, said leg structures comprising main cylinder one (101), main cylinder two (102), connecting rod (103) and knee exercise ball ( 104), a shin exercise cylinder (105), a shin support member 1 (106), a shin support member 2 (107) and a foot plate (108), the lower end of said main cylinder 1 (101) being: It is connected to the outer wall of the knee exercise ball (104), the lower end of the main cylinder 2 (102) is fitted with the knee exercise ball (104) to form a spherical pair, and the lower end of the connecting rod (103) is connected to the shin. The upper end of the shin exercise cylinder (105) is connected to the outer wall of the knee exercise ball (104), and the lower end is pivoted to the upper end of the shin support member 1 (106). , the lower end of said shin support member 1 (106) is connected to the top of the foot plate (108), the upper end of said shin support member 2 (107) is connected to the knee exercise ball (104) and spherical joint and the lower end is pivotally connected to the middle part of the shin support member (106),
Each leg mechanism corresponds to a transmission mechanism (200), which consists of a servomotor (201), a spline shaft (204) and a cruciform universal joint (205) installed in sequence. ), connecting shaft one (206), cross-shaped universal joint two (207), connecting shaft two (208), cross-shaped universal joint three (209), connecting shaft three (210), connecting wheel ( 211), the output shaft of the servo motor (201) is connected to one end of the spline shaft (204) by a joint (203), and the other end of the spline shaft (204) is connected to a cross-shaped universal joint ( 205) is connected to one end of the connecting shaft 1 (206), and the other end of the connecting shaft 1 (206) is connected to one end of the connecting shaft 2 (208) by a cross-shaped universal joint 2 (207). The other end of shaft 2 (208) is connected to one end of connecting shaft 3 (210) by cross-shaped universal joint 3 (209), and bearing 1 (212) is fitted in the middle of connecting shaft 3 (210). The connecting wheel (211) is attached to the other end of the connecting shaft 3 (210), the upper end of the main cylinder 2 (102) is fitted outside the bearing 1 (212), and the connecting rod ( 103) is connected to the connecting wheel (211),
Said steering mechanism (300) comprises a motor (301), a worm gear structure and a traction structure, said worm gear structure comprising a worm wheel (302) mounted on the output shaft of the motor (301) and a worm wheel ( 302), each steering mechanism corresponding to a pair of leg structures, the number of said traction structures being two, each of which is a pair of leg structures. One end of the traction structure is connected to the end of the worm (303), and the other end is connected to the damper mechanism (400) or the transmission mechanism (200). connected and
The damper mechanism (400) includes a damper base, a main damper (401), a sub-damper, a steering active base (404), and a steering traction case (405), wherein the damper base comprises a back plate (406). , an upper damper plate (407) and a lower damper plate (408) sequentially provided on the outer wall of the back plate (406) from top to bottom, and a main damper plate (407) sequentially provided above the back plate (406). A damper upper fixed base (409) and a sub-damper upper fixed base (410), the upper end of the main damper (401) is mounted on the main damper upper fixed base (409), and the lower end is mounted on the upper damper plate (407). ), the upper end of the sub-damper is mounted on the sub-damper upper fixed base (410), the lower end is mounted on the lower damper plate (408), and one end of the upper damper plate (407) is The lower damper plate (408) is connected on the back plate (406), the other end is fitted with the steering active base (404) forming a spherical pair, and the one end of the lower damper plate (408) is connected on the back plate (406). and the other end is fitted with a steering active base (404) forming a spherical pair, and the steering traction case (405) is connected to the steering active base (404). . The multi-legged robot according to claim 1, characterized in that said stabilizing mechanism (500) employs a gyro-stabilizing device and a seat is mounted above said gyro-stabilizing device. Said support mechanism (600) is a frame structure surrounded by a plurality of support rods, the upper end of said main cylinder one (101) is mounted on the support mechanism (600) and supported by bearing two (114). A multi-legged robot according to claim 1, characterized in that it is pivotally connected to one support rod at (600), said bearing two (114) being fitted on the support rod. The knee exercise ball (104) includes a sphere (109), an exercise groove 1 (110) and an exercise groove 2 (111) respectively opened inside the sphere (109), and the main cylinder 2 (102). A sports ball (112) is provided at the lower end of the sports ball (112), and the sports ball (112) is fitted into the sports groove (110) and forms a spherical pair with the sports groove (110). A sports ball 2 (113) is provided on the upper end of the shin support member 2 (107), and the sports ball 2 (113) is fitted and installed in the sports groove 2 (111), and The multi-legged robot according to claim 1, characterized in that it is fitted with the second movement groove (111) forming a spherical pair. The multi-legged robot according to claim 1, characterized in that a planetary reduction gear (202) is mounted on the output shaft of the servomotor (201), and the connecting shaft (206) is inclined. . The traction structure includes a traction block 1 (304), a traction block 2 (305) and a folding block (306), wherein the folding block (306) adopts a hinge structure and is pivotally connected. The lower end of the traction block 1 (304) is connected to the end of the worm (303), and the upper end is connected to one end of the traction block 2 (305). and the other end of the traction block 2 (305) is connected to the hinge structure 1, and the hinge structure 2 is connected to the steering active base (404). foot robot. Both the main damper (401) and the sub-damper adopt springs or dampers, the number of the main damper is one and the number of the sub-damper is two, which are sub-damper 1 (402) and sub-damper 2 respectively. (403), and two sub-dampers are provided symmetrically on both sides below the main damper (401). A motor mounting base (307) is mounted on the inner wall of the back plate (406), the motor (301) is mounted on the motor mounting base (307), and the main damper upper fixing base (409) is: The multi-legged robot according to claim 1, characterized in that it is mounted on the top of a motor mounting base (307), and said sub-damper upper fixed base (410) is mounted on a side wall of the motor mounting base (307). . The steering active base (404) includes a steering active base body (411), and a motion groove 3 (412) and a motion groove 4 (413) sequentially opened in the steering active base body (411). The end of the damper plate (407) is provided with a motion ball 3 (414), the motion ball 3 (414) is fitted and installed in the motion groove 3 (412), and the motion groove 3 (412) and A motion ball 4 (415) is provided at the end of the lower damper plate (408), and the motion ball 4 (415) is fitted in the motion groove 4 (413). The multi-legged robot according to claim 1, characterized in that it is mounted and fitted with the motion grooves (413) forming a spherical pair. A position regulating plate (308) is provided above the motor mounting base (307), and an end of the position regulating plate (308) is connected to the main damper upper fixing base (409). The multi-legged robot according to claim 8.

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