WO2017219315A1 - Robot à jambes multiples - Google Patents

Robot à jambes multiples Download PDF

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Publication number
WO2017219315A1
WO2017219315A1 PCT/CN2016/086884 CN2016086884W WO2017219315A1 WO 2017219315 A1 WO2017219315 A1 WO 2017219315A1 CN 2016086884 W CN2016086884 W CN 2016086884W WO 2017219315 A1 WO2017219315 A1 WO 2017219315A1
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WO
WIPO (PCT)
Prior art keywords
joint
robot according
arm
coupled
transmission assembly
Prior art date
Application number
PCT/CN2016/086884
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English (en)
Chinese (zh)
Inventor
贝世猛
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2016/086884 priority Critical patent/WO2017219315A1/fr
Priority to CN201680004359.3A priority patent/CN107223104B/zh
Publication of WO2017219315A1 publication Critical patent/WO2017219315A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid

Definitions

  • the invention relates to the field of robots, and in particular to a multi-legged robot.
  • Embodiments of the present invention provide a multi-legged robot including a body and a mechanical leg movably disposed on the body.
  • the mechanical leg includes a follower arm movably coupled to the body and a first drive assembly that is configured to drive the follower arm to move relative to the body.
  • the first transmission assembly includes a snap-stop structure for locking the first transmission assembly when the first transmission assembly is powered off to enable the The first transmission assembly is capable of maintaining the current transmission state, thereby enabling the mechanical leg to maintain the current operating state.
  • Embodiments of the present invention also provide a multi-legged robot including a fuselage and a plurality of mechanical legs.
  • a plurality of the mechanical legs are coupled to the fuselage for providing mobile power of the fuselage.
  • Each of the mechanical legs includes a first joint rotatably coupled to the body, a second joint rotatably coupled to the first joint, and a third joint rotatably coupled to the second joint. Wherein the first joint is rotated relative to the body to adjust a position of the third joint in a horizontal direction; and the second joint is rotated relative to the first joint to adjust the third joint a position in a vertical direction; the third joint is rotated relative to the second joint to adjust an angle at which the third joint is landed.
  • the snap-stop structure is used to give the slave arm sufficient supporting force, and the first transmission component is When the power is cut off, the current transmission state can be maintained, so that the mechanical leg can maintain the current operating state, and the multi-legged robot can be prevented from being soft due to the power to be cut.
  • FIG. 1 is an assembled perspective view of a multi-legged robot according to an embodiment of the present invention.
  • FIG. 2 is a side view of the multipod robot shown in FIG. 1.
  • FIG. 3 is an assembled perspective view of the mechanical leg of the multi-legged robot shown in FIG. 1.
  • FIG. 4 is a perspective view of another perspective view of the mechanical leg shown in FIG. 3.
  • Figure 5 is a perspective view of still another perspective view of the mechanical leg shown in Figure 3.
  • Figure 6 is a side elevational view of the mechanical leg shown in Figure 3.
  • Multi-footed robot 100 body 10 Load mechanism 30 Mechanical leg 50 First joint 52 Active drive 521 Active arm 523 Second joint 54 Driven drive 541 First transmission component 543 Screw 5431,5631 Nut 5433,5633 Universal joint 5435, 5635 Slave arm 545 Pivot 5451,5651 Rotating shaft 5453,5653 Third joint 56 Execution drive 561 Second transmission component 563 Executive arm 565 Feet 58 Shock absorption component 581 Fastener 5811 Mounting parts 5813 Elastic part 5815 Moving parts 5817 antenna 583
  • a component when referred to as being “fixed” to another component, it can be directly on the other component or the component can be present.
  • a component When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • a component When a component is considered to be “set to” another component, it can be placed directly on another component or possibly with a centered component.
  • the terms “vertical,” “horizontal,” “left,” “right,” and the like, as used herein, are for illustrative purposes only.
  • Embodiments of the present invention provide a multi-legged robot provided with one or more mechanical legs. At least one of the mechanical legs includes a follower arm and a first transmission assembly. The first transmission assembly is capable of driving the slave arm to move relative to the body.
  • the first transmission assembly includes a snap-stop structure for locking the first transmission assembly when the first transmission assembly is powered off to enable the The first transmission assembly is capable of maintaining the current transmission state, thereby enabling the mechanical leg to maintain the current operating state.
  • the snap-back structure can be an electrically self-locking structure.
  • the electric self-locking structure is in a self-locking state when the power is off.
  • the electric self-locking mechanism releases the self-locking when energized.
  • the first transmission assembly may include an electric telescopic cylinder and a retaining member
  • the snap-stop structure is an engaging structure of the electric telescopic cylinder and the retaining member.
  • the electric telescopic cylinder When the electric telescopic cylinder is energized, the telescopic rod of the electric telescopic cylinder is in a contracted state, at which time the telescopic rod is disengaged from the corresponding anti-return member; when the electric telescopic cylinder is de-energized, the telescopic rod is in itself It automatically protrudes under the action of gravity and is in an initial state, and is engaged with the corresponding retaining member.
  • the retaining member may be a straight rack or a snap groove or the like.
  • the snap-stop structure may include an electromagnet component, an iron snap component, and a retaining component.
  • the electromagnet member When the electromagnet member is energized, attracting the iron engaging member to separate the iron engaging member from the retaining member; when the electromagnet member is powered off, the iron engaging member is under its own gravity Engaged with the retaining member.
  • the retaining member may be a straight rack or a snap groove or the like.
  • the snap-stop structure can be a mechanical self-locking structure, such as an intermeshing thread.
  • Embodiments of the present invention also provide a multi-legged robot provided with one or more mechanical legs. At least one of the mechanical legs includes one or more joints.
  • the joint can adjust the positional direction of the mechanical leg, for example, the joint can adjust the position in the horizontal direction, the position in the vertical direction, the angle at the time of landing, and the like.
  • the mechanical leg can include a plurality of the joints.
  • the mechanical leg includes a first joint, a second joint, and a third joint.
  • the first joint is rotatably coupled to the body.
  • a second joint rotatably coupled to the first joint.
  • a third joint rotatably coupled to the second joint.
  • the position of the third joint in the horizontal direction is adjusted.
  • the second joint is rotated relative to the first joint to adjust a position of the third joint in a vertical direction.
  • the third joint is rotated relative to the second joint to adjust an angle at which the third joint is landed, for example, an angle of inclination with respect to the ground.
  • FIG. 1 and FIG. 2 illustrate a multi-legged robot 100 according to an embodiment of the present invention.
  • the multi-legged robot 100 may be a crawler robot, a bionic robot, or the like, which may be applied to Competitive robotics, service robotics, medical devices, etc.
  • the multi-legged robot 100 includes a body 10 and a load mechanism 30 and a mechanical leg 50 disposed on the body 10.
  • the load mechanism 30 is used to implement additional functions of the multi-legged robot 100.
  • the mechanical leg 50 is used to provide the multi-legged robot 100 with power to support, walk, and climb.
  • the body 10 is substantially a block-shaped base for carrying the load mechanism 30 and for accommodating electronic components of the multi-legged robot 100, such as a controller, a sensor, and the like.
  • the load mechanism 30 is disposed on the body 10 and is movable relative to the body 10 or fixed relative to the body 10.
  • the multi-legged robot 100 is a remote control robot, and is provided with a wireless transmission module for receiving a remote control command;
  • the load mechanism 30 is a turret, which can emit a BB bomb or a collimated laser beam or the like. It can be understood that in other embodiments, the type of the load mechanism 30 can be set according to the actual needs of the multi-legged robot 100.
  • the load mechanism 30 may be a human-machine interaction device; when the multi-footed robot 100 is a medical robot, the load mechanism 30 may be a robot arm or a sensing device or the like. Of course, in some embodiments, the load mechanism 30 can also be omitted, and the additional function of the multi-legged robot 100 can be realized directly through the body 10.
  • the mechanical leg 50 is movably coupled to the body 10 and is located on a side of the body 10 that faces away from the load mechanism 30.
  • the mechanical leg 50 is used to support the body 10 and drive the body 10 and the load mechanism 30 to walk, climb, or perform other work tasks.
  • the number of the mechanical legs 50 is eight, and the eight mechanical legs 50 are divided into two groups, and the two sets of the mechanical legs 50 are symmetrically disposed on opposite sides of the body 10.
  • the multi-legged robot 100 is gravity balanced and runs smoothly.
  • the mechanical legs 50 may also be other numbers.
  • the mechanical legs 50 may be one, two, three, four, five, and the like.
  • the mechanical leg 50 includes a first joint 52, a second joint 54, and a third joint 56.
  • the first joint 52, the second joint 54, and the third joint 56 are sequentially connected.
  • the first joint 52 is rotatably coupled to the body 10
  • the second joint 54 is rotatably coupled to the first joint 52
  • the third joint 56 is rotatably coupled to The second joint 54.
  • the position of the third joint 56 in the horizontal direction can be adjusted, thereby adjusting the position of the mechanical leg 50 in the horizontal direction. Therefore, by controlling the angle at which the first joint 52 is rotated relative to the body 10, the step size and direction of movement of the mechanical leg 50 can be controlled.
  • a rotating shaft of the first joint 52 relative to the body 10 is disposed substantially parallel to a vertical central axis of the body 10, and the first joint 52 is opposite to the body
  • the angle of rotation of 10 is less than or equal to 180 degrees.
  • the setting angle and setting manner of the rotating shaft of the first joint 52 relative to the rotating body 10 can be set according to the actual needs of the multi-legged robot 100, for example, The rotating shaft of the first joint 52 with respect to the body 10 can be inclined with respect to the vertical central axis of the body 10.
  • the angular range of rotation of the first joint 52 relative to the body 10 can also be set according to the actual needs of the multi-legged robot 100, for example, the first joint 52 is opposite to the fuselage.
  • the angle of rotation of 10 may be less than or equal to 150 degrees, less than or equal to 100 degrees, less than or equal to 90, and the like.
  • the position of the third joint 56 in the vertical direction can be adjusted, thereby adjusting the position of the mechanical leg 50 in the vertical direction. Therefore, by controlling the angle at which the second joint 54 is rotated relative to the first joint 52, the height at which the mechanical leg 50 climbs/lifts can be controlled.
  • the rotation axis of the second joint 54 relative to the first joint 52 is disposed substantially perpendicular to the vertical central axis of the body 10.
  • the rotation axis of the second joint 54 relative to the first joint 52 is disposed substantially perpendicular to the rotation axis of the first joint 52 relative to the rotation of the body 10.
  • the angle of rotation of the second joint 54 relative to the first joint 52 is less than or equal to 100 degrees.
  • the setting angle and setting manner of the rotating shaft of the second joint 54 relative to the first joint 52 can be set according to the actual needs of the multi-legged robot 100.
  • a rotation axis of the second joint 54 relative to the first joint 52 may be inclined with respect to a vertical central axis of the body 10; or, the second joint 54 may be opposite to the first joint
  • the rotating shaft of 52 can be inclined with respect to the rotation axis of the first joint 52 with respect to the rotation of the body 10.
  • the angular range of rotation of the second joint 54 relative to the first joint 52 may also be set according to the actual needs of the multi-legged robot 100, for example, the second joint 54 is opposite to the first
  • the angle at which a joint 52 rotates may be less than or equal to 180 degrees, less than or equal to 150 degrees, less than or equal to 90, and the like.
  • the angle at which the third joint 56 is landed can be adjusted, thereby adjusting the angle at which the mechanical leg 50 is landed. Therefore, by controlling the angle at which the third joint 56 is rotated relative to the second joint 54, the angle at which the mechanical leg 50 climbs/lifts can be controlled.
  • the rotation axis of the third joint 56 relative to the second joint 54 is substantially parallel to the rotation axis of the second joint 54 relative to the first joint 52, the third joint The angle of rotation of 56 relative to the second joint 54 is less than or equal to 100 degrees.
  • the setting angle and setting manner of the rotating shaft of the third joint 56 relative to the second joint 54 can be set according to the actual needs of the multi-legged robot 100.
  • a rotation axis of the third joint 56 relative to the second joint 54 may be inclined with respect to a vertical central axis of the body 10; or, the third joint 56 may be opposite to the second
  • the rotating shaft of the joint 54 is tiltably disposed with respect to the rotation axis of the second joint 54 with respect to the rotation of the body 10.
  • the range of angles at which the third joint 56 is rotated relative to the second joint 54 may also be set according to the actual needs of the multi-legged robot 100, for example, the third joint 56 is relative to the first
  • the angle at which the two joints 54 rotate may be less than or equal to 180 degrees, less than or equal to 150 degrees, less than or equal to 90, and the like.
  • the first joint 52 includes an active driving member 521 and an active arm 523 .
  • the active driving member 521 is disposed on the body 10.
  • the active arm 523 is coupled to the active drive member 521.
  • the driving device 521 is a rotating driving member for driving the driving arm 523 to rotate, thereby driving the mechanical leg 50 to rotate integrally with the body 10.
  • the active driving member 521 is provided with an adapter portion (not shown), and the active driving member 521 is mounted on the body 10 through the adapter portion.
  • the active driving member 521 is a rotating electrical machine including a stator (not shown) and a rotor (not shown).
  • the stator is fixed to the body 10, and the rotor is rotatably coupled to the stator.
  • the active arm 523 is coupled to the rotor, and the rotor can drive the active arm 523 to rotate relative to the body 10 to rotate the first joint 52 relative to the body 10.
  • the active arm 523 is used to mount the second joint 54.
  • the axis of the driving arm 523 relative to the body 10 is substantially parallel to the vertical central axis of the body 10.
  • the rotational axis of the active arm 523 is disposed substantially in a vertical direction.
  • the second joint 54 is movably disposed on the active arm 523.
  • the second joint 54 includes a driven drive member 541, a first transmission assembly 543, and a follower arm 545.
  • the driven driver 541 is disposed on the active arm 523.
  • the first transmission assembly 543 is coupled to the driven drive member 541.
  • the follower arm 545 is coupled to the first transmission assembly 543.
  • the driven driving member 541 is a rotary driving member, and specifically, the driven driving member 541 is a rotating electrical machine.
  • the driven driver 541 is disposed on the active arm 523 and fixed relative to the active arm 523.
  • the driven driver 541 is configured to drive the first transmission component 543 to move to rotate the slave arm 545 relative to the active arm 523 such that the second joint 54 is opposite to the first joint 52. Turn.
  • the first transmission component 543 is a screw mechanism.
  • the first transmission component 543 includes a screw rod 5431 and a nut 5433 sleeved on the screw rod 5431.
  • the lead screw 5431 is coupled to the drive shaft of the driven drive member 541 via a universal joint 5435, and the nut 5433 is engaged with the lead screw 5431.
  • the driven driving member 541 can drive the screw 5431 to rotate to drive the nut 5433 to move.
  • the engaging structure between the nut 5433 and the lead screw 5431 constitutes a snap-stop structure of the first transmission component 543.
  • the snap-retracting structure can prevent the first transmission assembly 543 from continuing to drive, that is, the thread of the nut 5433 After the threads of the lead screw 5431 are engaged, it is difficult for the nut 5433 to automatically move relative to the lead screw 5431, so that the first transmission assembly 543 can still maintain the supporting force on the follower arm 545, thereby avoiding the The second joint 54 is soft due to the power to be cut.
  • the follower arm 545 is rotatably disposed on the active arm 523 and rotatably coupled to the nut 5433. Specifically, the follower arm 545 is pivotally connected to the active arm 523 via a pivot 5451. The follower arm 545 is rotatably coupled to the nut 5433 via a rotating shaft 5453.
  • the driven driving member 541 drives the screw 5431 to rotate
  • the nut 5433 can move along the screw 5431 to drive the driven arm 545 to rotate relative to the active arm 523, so that the The second joint 54 is integrally rotated relative to the first joint 52.
  • an axis of rotation of the slave arm 545 relative to the active arm 523 is substantially perpendicular to the active arm 523.
  • the third joint 56 is movably disposed on the follower arm 545.
  • the structure of the third joint 56 is substantially the same as the structure of the second joint 54.
  • the third joint 56 includes an execution driving member 561, a second transmission assembly 563, and an execution arm 565.
  • the execution driving member 561 is disposed on the driven arm 545.
  • a second transmission assembly 563 is coupled to the actuator member 561, and the actuator arm 565 is coupled to the second transmission assembly 563.
  • the actuator 561 is a rotary driving member. Specifically, the actuator 561 is a rotating electrical machine.
  • the actuator member 561 is disposed on the slave arm 545 and fixed relative to the slave arm 545.
  • the execution driving member 561 is configured to drive the second transmission component 563 to move to rotate the actuator arm 565 relative to the slave arm 545 to rotate the third joint 56 relative to the second joint 54 .
  • the second transmission component 563 is a screw mechanism.
  • the second transmission component 563 includes a lead screw 5631 and a nut 5633 sleeved on the screw shaft 5631.
  • the lead screw 5631 is coupled to the drive shaft of the actuator 561 by a universal joint 5635, and the nut 5633 is engaged with the lead screw 5631.
  • the actuator 561 can drive the screw 5631 to rotate to drive the nut 5633 to move.
  • the meshing structure between the nut 5633 and the lead screw 5631 constitutes a snap-stop structure of the second transmission component 563.
  • the snap-stop structure can prevent the second transmission assembly 563 from continuing to drive, that is, the thread and the screw of the nut 5633 After the threads of 5631 are engaged, it is difficult for the nut 5633 to automatically move relative to the lead screw 5631, so that the second transmission assembly 563 can still maintain the supporting force on the actuator arm 565, thereby avoiding the third joint. 56 is soft due to the power cut off.
  • the actuator arm 565 is rotatably disposed on the slave arm 545 and rotatably coupled to the nut 5633. Specifically, the actuator arm 565 is pivotally connected to the slave arm 545 via a pivot 5651. The actuator arm 565 is rotatably coupled to the nut 5633 via a shaft 5653.
  • the driving member 561 drives the screw 5631 to rotate
  • the nut 5633 can move along the screw 5631, thereby driving the actuator arm 565 to rotate relative to the slave arm 545, so that the first The three joints 56 are integrally rotated relative to the second joint 54.
  • the axis of rotation of the actuator arm 565 relative to the slave arm 545 is substantially parallel to the slave arm 545.
  • the multipod robot 100 further includes a leg 58 disposed on the third joint 56, the leg 58 serving as a support for the mechanical leg 50 of the multipod robot 100 when landing.
  • the leg 58 includes a shock absorbing component 581 and an antenna 583 disposed on the actuator arm 565.
  • the antenna 583 abuts against the shock absorbing component 581, the antenna 583 and the antenna
  • the damper assembly 581 is for supporting the multi-legged robot 100 on a use place, and dampens the walking and climbing of the multi-legged robot 100.
  • the shock absorbing assembly 581 includes a fixing member 5811, a mounting member 5813, an elastic member 5815, and a movable member 5917.
  • the fixing member 5811 is fixed on the mounting arm 565
  • the mounting member 5813 is disposed on the fixing member 5811
  • the elastic member 5815 is movably disposed on the mounting member 5813.
  • the movable member 5917 is movably abutted against the elastic member 5815 and serves to abut the tentacles 583 to make the shock absorbing assembly 581 elastic between the third joint 56 and the antenna 583
  • the resisting action is performed to achieve the damping of the multi-legged robot 100 while walking.
  • the fixing members 5811 are two, and the two fixing members 5811 are spaced apart from each other on the execution arm 565.
  • the mounting member 5813 is substantially in the shape of a rod, and is disposed between the two fixing members 5811, and two ends of the mounting member 5813 are respectively connected to the two fixing members 5811.
  • the movable member 5917 is movably sleeved on the mounting member 5813, and the movable member 5917 is configured to mount the antenna 583.
  • the elastic member 5815 is movably disposed on the mounting member 5813 and is abutted between the fixing member 5811 and the movable member 5917.
  • the elastic members 5815 are two sets, and the two sets of the elastic members 5815 are respectively disposed on two sides of the movable member 5917, and the two ends of each set of the elastic members 5815 are respectively respectively resisted.
  • the fixing member 5811 and the movable member 5917 are arranged to realize the two-way vibration damping of the mechanical leg 50.
  • the antenna 583 is coupled to the movable member 5917 for supporting the multi-legged robot 100 at a place of use.
  • a sensor (not shown) is provided on the antenna 583 for sensing whether the antenna 583 is landing.
  • the sensor may be a pressure sensor, a distance sensor, a visual sensor, or the like.
  • the first joint 52 of the mechanical leg 50 serves as an active joint
  • the second joint 54 serves as a driven joint
  • the third joint 56 functions as an execution joint
  • the active joint drives the driven joint through the driven joint.
  • the joint motion is performed to realize the functions of standing, walking, climbing, and the like of the multi-footed robot 100.
  • the snap-stop structure is used to give the slave arm 545 sufficient supporting force and to make the first transmission
  • the assembly 543 is capable of maintaining the current transmission state when the power is turned off, thereby enabling the mechanical leg to maintain the current operating state, thereby avoiding the situation in which the multi-legged robot 100 is softened by the power to be cut.
  • the second transmission assembly 563 of the third joint 56 has the above-described snap-stop configuration, the second transmission assembly 563 can maintain the current transmission state in the case of being powered off, avoiding the The ED robot 100 is soft due to the power being cut.
  • the multi-legged robot 100 described above may have only one of the second joint 54 or the third joint 56 described above to realize the functions of standing, walking, climbing, etc. of the multi-legged robot 100;
  • the mechanical leg 50 of the multi-legged robot 100 may omit the first joint 52 and directly mount the second joint 54 on the body 10 and pass the first of the second joint 54
  • the transmission assembly 543 imparts sufficient support to the mechanical leg 50 to maintain the current transmission state of the mechanical leg 50 with the power being shut off.
  • the first transmission component 543 can be a transmission mechanism other than the screw mechanism, and the first transmission component 543 has a snap-stop structure, so that the first transmission component 543 is When the power is turned off, the current transmission state can be maintained.
  • the first transmission component 543 can be a worm gear mechanism.
  • the first transmission assembly 543 can include a worm and a worm gear that meshes with the worm.
  • the worm is coupled to a drive shaft of the driven drive member 541, and the follower arm 545 is disposed on the worm gear.
  • the driven driving member 541 can drive the worm to rotate to drive the worm wheel to rotate, thereby driving the driven arm 545 to rotate.
  • the snap-stop structure is an engaging structure of the worm wheel and the worm, whereby the snap-stop structure prevents the worm wheel from being opposite to the whirl when the driven member 541 is powered off
  • the first transmission assembly 543 can still maintain the supporting force to the follower arm 545, thereby avoiding the situation in which the second joint 54 is softened by the power to be cut.
  • the first transmission component 543 can be a linear motor.
  • the first transmission component 543 may include a guide rail and a slider adapted to the guide rail, and at this time, the driven driving member 541 may be omitted.
  • An adapter portion is disposed on the rail, and the rail is mounted on the body 10 through the adapter portion.
  • the rail is rotatably coupled to the active arm 523, and the slider is slidably disposed on the rail.
  • the follower arm 545 is rotatably coupled to the slider while being pivotally connected to the active arm 523. The slider can drive the follower arm 545 to move relative to the active arm 523 when the slider of the linear motor slides relative to the guide rail.
  • the guide rail may be rotatably connected to the active arm 523 by a universal joint, a ball joint or a pivot.
  • the snap-stop structure is a self-locking structure inside the linear motor, whereby the snap-stop structure can prevent the slider from being opposite to the slider when the driven driver 541 is powered off.
  • the guide rail is moved, and the first transmission assembly 543 can still maintain the supporting force to the follower arm 545, thereby avoiding the situation in which the second joint 54 is softened by the power to be cut.
  • the first transmission assembly 543 can be a combination of an electric telescopic cylinder and a retaining member.
  • the first transmission component 543 may include an electric telescopic cylinder and a retaining member, and at this time, the driven driving member 541 may be omitted.
  • the electric telescopic cylinder includes a cylinder and a telescopic rod that is slidingly engaged with the cylinder, and the telescopic rod can be engaged or disengaged from the retaining member.
  • the cylinder is rotatably coupled to the active arm 523, and the driven arm 545 is rotatably coupled to the telescopic rod while being pivotally coupled to the active arm 523.
  • the telescopic rod can move the follower arm 545 relative to the active arm 523 when the telescopic rod slides relative to the cylinder.
  • the cylinder block may be rotatably coupled to the active arm 523 by a universal joint, a ball joint or a pivot.
  • the snap-retracting structure is an engaging structure of the electric telescopic cylinder and the retaining member.
  • the telescopic rod when the electric telescopic cylinder is energized, the telescopic rod is in a contracted state, at which time the telescopic rod is separated from the corresponding retaining member; when the electric telescopic cylinder is powered off, the telescopic rod is in itself It automatically protrudes under the action of gravity and is in an initial state, and is engaged with the corresponding retaining member.
  • the retaining member may be a straight rack or a snap tooth groove or the like.
  • the first transmission assembly 543 can be a combination of an electric rotary cylinder and a retaining member.
  • the first transmission component 543 may include an electric rotating cylinder and a retaining member, and at this time, the driven driving member 541 may be omitted.
  • the electric rotary cylinder includes a cylinder, a rotating rod rotatably engaged with the cylinder, and a resetting member disposed between the Su Sohu cylinder and the rotating rod, the rotating rod being capable of being engaged with the stopping member Combination or phase separation.
  • the cylinder is fixedly coupled to the active arm 523, and the driven arm 545 is coupled to the rotating rod.
  • the rotating rod can move the follower arm 545 relative to the active arm 523 when the rotating rod rotates relative to the cylinder.
  • the snap-stop structure is an engagement structure of the electric rotary cylinder and the retaining member. Specifically, when the electric rotary cylinder is energized, the rotating rod is separated from the corresponding retaining member; when the electric rotating cylinder is powered off, the rotating rod is returned by the resetting member and is in The initial state is engaged with the corresponding retaining member.
  • the reset member may be an elastic member
  • the retaining member may be a straight rack or a snap groove or the like.
  • the second transmission component 563 can also be a transmission mechanism other than the screw mechanism, for example, a worm gear mechanism, a linear motor, a telescopic cylinder, a rotary cylinder, etc., so that the second transmission component 563 has a corresponding card.
  • the retracting structure is configured such that the second transmission assembly 563 can maintain the current transmission state when the power is cut off.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
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Abstract

L'invention concerne un robot à jambes multiples (100) comprenant un corps principal (10) et des jambes mécaniques (50) disposées de manière mobile sur le corps principal (10). La jambe mécanique (50) comprend un bras entraîné (545) et un premier ensemble de transmission (543) relié de manière mobile au corps principal (10), et le premier ensemble de transmission (543) peut entraîner le bras entraîné (545) en déplacement par rapport au corps principal (10). Le premier ensemble de transmission (543) comprend une structure de retenue de mise en prise utilisée pour fournir une force de soutien suffisante au bras entraîné (545), et pour permettre au premier ensemble de transmission (543) de rester dans un état de transmission lorsque l'alimentation est coupée, de telle sorte que les jambes mécaniques (50) peuvent également rester dans un état de déplacement.
PCT/CN2016/086884 2016-06-23 2016-06-23 Robot à jambes multiples WO2017219315A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2016/086884 WO2017219315A1 (fr) 2016-06-23 2016-06-23 Robot à jambes multiples
CN201680004359.3A CN107223104B (zh) 2016-06-23 2016-06-23 多足机器人

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/086884 WO2017219315A1 (fr) 2016-06-23 2016-06-23 Robot à jambes multiples

Publications (1)

Publication Number Publication Date
WO2017219315A1 true WO2017219315A1 (fr) 2017-12-28

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CN108583725A (zh) * 2018-07-13 2018-09-28 长沙紫宸科技开发有限公司 一种便装式可自锁带自主分布动力的仿生机械腿
CN108638041A (zh) * 2018-05-14 2018-10-12 南京蜘蛛侠智能机器人有限公司 一种模块化机器人
CN109018065A (zh) * 2018-09-13 2018-12-18 青岛中科慧聚文化创意有限公司 一种全拟态仿形推进机构
CN109131621A (zh) * 2018-09-04 2019-01-04 洛阳清展智能科技有限公司 一种六足仿生式电厂锅炉水冷壁检测维修爬壁机器人
CN112388597A (zh) * 2019-08-12 2021-02-23 诸暨市蓝了电子科技有限公司 多足轮式机器人
CN112388599A (zh) * 2019-08-12 2021-02-23 诸暨市蓝了电子科技有限公司 多足轮式机器人的轮式足组件
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CN107943059A (zh) * 2017-12-29 2018-04-20 南京工程学院 基于深度视觉导航的重载多足机器人及其运动规划方法
CN107943059B (zh) * 2017-12-29 2024-03-15 南京工程学院 基于深度视觉导航的重载多足机器人及其运动规划方法
CN108638041A (zh) * 2018-05-14 2018-10-12 南京蜘蛛侠智能机器人有限公司 一种模块化机器人
CN108583725A (zh) * 2018-07-13 2018-09-28 长沙紫宸科技开发有限公司 一种便装式可自锁带自主分布动力的仿生机械腿
CN109131621A (zh) * 2018-09-04 2019-01-04 洛阳清展智能科技有限公司 一种六足仿生式电厂锅炉水冷壁检测维修爬壁机器人
CN109018065A (zh) * 2018-09-13 2018-12-18 青岛中科慧聚文化创意有限公司 一种全拟态仿形推进机构
CN109018065B (zh) * 2018-09-13 2024-05-31 青岛中科慧聚文化创意有限公司 一种全拟态仿形推进机构
CN112388597A (zh) * 2019-08-12 2021-02-23 诸暨市蓝了电子科技有限公司 多足轮式机器人
CN112388599A (zh) * 2019-08-12 2021-02-23 诸暨市蓝了电子科技有限公司 多足轮式机器人的轮式足组件
CN114750851B (zh) * 2021-07-12 2023-08-01 智能移动机器人(中山)研究院 一种基于舵机的可变构四六足机器人及其行进方法
CN114750851A (zh) * 2021-07-12 2022-07-15 智能移动机器人(中山)研究院 一种基于舵机的可变构四六足机器人及其行进方法
CN113738998A (zh) * 2021-08-27 2021-12-03 广东电网有限责任公司 一种管道环境监测机器人及管道环境监测机器人控制方法
CN114044066A (zh) * 2021-11-22 2022-02-15 长春工业大学 基于八面体桅杆型张拉整体结构的仿人足式机构及装置
CN114044066B (zh) * 2021-11-22 2023-09-01 长春工业大学 基于八面体桅杆型张拉整体结构的仿人足式机构及装置
CN114572322A (zh) * 2021-12-15 2022-06-03 常州机电职业技术学院 一种仿生海蟹机器人
CN114475844A (zh) * 2022-03-08 2022-05-13 重庆电子工程职业学院 一种多功能救援设备
CN115771150A (zh) * 2022-11-23 2023-03-10 广东技术师范大学 救援设备

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