CN104724202A - Reconstructable multi-legged robot - Google Patents
Reconstructable multi-legged robot Download PDFInfo
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- CN104724202A CN104724202A CN201510171415.XA CN201510171415A CN104724202A CN 104724202 A CN104724202 A CN 104724202A CN 201510171415 A CN201510171415 A CN 201510171415A CN 104724202 A CN104724202 A CN 104724202A
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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
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
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Abstract
The invention relates to a reconstructable multi-legged robot which is formed by a plurality of leg units and connection plates. Any two leg units are connected through the corresponding connection plates to achieve multi-legged robots of different types. Regarding each leg unit of the reconstructable multi-legged robot, a single motor drives leg rods on the two sides to achieve the alternative walking action. When the reconstructable multi-legged robot walks, multiple leg rods support the robot on the ground at any moments so as to ensure the stability of the robot. Marching, retreating and turning of the robot are achieved by controlling the rotating speeds and rotating directions of the motors of different leg units. The reconstructable multi-legged robot is simple in structure, easy to control, and high in movement stability, adaptability to different environments and practical value in the fields of military, exploration, entertainment and the like.
Description
Technical field
The present invention relates to a kind of restructural multi-foot robot.
Background technology
Robot ambulation system directly affects the field of application of robot.At present, in the kinematic mechanism of mobile robot, general employing is wheeled, crawler type and Zu Shi mechanism, and compared with wheeled robot or caterpillar type robot, multi-foot robot has higher manoevreability and to the good comformability of complex road surface.Current multi-foot robot, monopodia structure major part adopts multiple-degree-of-freedom mechanism form, advance, the action such as retrogressing and turning of monopodia is controlled by the motion of the multiple connection place of driver train (joint), ensureing accurately to control on the basis of monopodia motion, need to coordinate the alternating movement between polypody, cause control difficulty large and complex structure, make the stability of existing multi-foot robot not enough.On the other hand, the multi-foot robot of particular form cannot adapt to the walking requirement of different application environment.
Summary of the invention
The object of the invention is to overcome above-mentioned shortcoming, a kind of restructural multi-foot walking robot is provided, it solves the structure of walking robot and the complexity of control, the stability in robot ambulation process, and to problems such as the comformabilitys of different application environment.The object of the present invention is achieved like this, and restructural multi-foot walking robot is made up of leg unit and connecting panel.Leg unit has multiple, and it is made up of base plate, transmission bracket, electric machine support, motor, coupler, the first gear, the second gear, the 3rd gear, crank, rocking bar, connecting rod, leg bar, slide block, guide rod and guide bar support.Dynamic support, electric machine support is separately fixed on base plate, motor is fixed on electric machine support, motor is connected with the first gear by coupler, first gear, second gear, 3rd gear is arranged in transmission bracket respectively, and the first gear and the second gears meshing, second gear and the 3rd gears meshing, 3rd gear both sides are fixed with one end of crank respectively, and the crank of both sides is 180 degree of phase angles installations, the other end of crank is connected with connecting rod one end, rocking bar one end is connected with transmission bracket, the rocking bar other end is connected with connecting rod mid point, leg bar one end is connected with the connecting rod other end, the leg bar other end is through the slotted eye contact perpendicular to the ground on slide block and base plate, slide block is arranged on guide rod, and direction of slip is parallel with seating plane, guide rod two ends and guide bar support are fixed, support is fixed on base, crank simultaneously, rocking bar, connecting rod, guide rod, slide block is spatially in being arranged in parallel, avoid mutual motion artifacts.The leg unit of this multi-foot walking robot is made up of connecting rod mechanism, and structure is simple and stability is strong, and the various combination form of multiple leg unit is to adapt to different application environment, strong adaptability.
Accompanying drawing explanation
Accompanying drawing 1 is the structural representation of restructural multi-foot robot of the present invention.
Accompanying drawing 2 is structural representations of restructural multi-foot robot leg unit of the present invention.
Accompanying drawing 3 is birds-eye vieies of restructural multi-foot robot leg unit of the present invention.
Accompanying drawing 4 is mechanism kinematic schematic diagrams of restructural multi-foot robot leg unit of the present invention.
Accompanying drawing 5 is the schematic diagrams of the sufficient walking robot of rectangle eight that restructural multi-foot robot of the present invention reconstruct is formed.
Accompanying drawing 6 is the schematic diagrams of the sufficient walking robot of rhombus eight that restructural multi-foot robot of the present invention reconstruct is formed.
Description of symbols in figure: 1-leg unit, 2-connecting panel, 1-1-base plate, 1-2-the first gear, 1-3-transmission bracket, 1-4-coupler, 1-5-electric machine support, 1-6-motor, 1-7-the second gear, 1-8-the 3rd gear, 1-9-crank, 1-10-rocking bar, 1-11-connecting rod, 1-12-guide rod, 1-13-slide block, 1-14-guide bar support, 1-15-leg bar.
Detailed description of the invention
1 to accompanying drawing 6 further illustrates the present invention by reference to the accompanying drawings.
Restructural multi-foot robot shown in accompanying drawing 1 by: leg unit 1 and connecting panel 2 are formed.Leg unit 1 has multiple, is connected, realizes multi-form multi-foot robot between any two leg unit by connecting panel 2.The unit of leg shown in Fig. 21 it comprise: base plate 1-1, the first gear 1-2, transmission bracket 1-3, coupler 1-4, electric machine support 1-5, motor 1-6, the second gear 1-7, the 3rd gear 1-8, crank 1-9, rocking bar 1-10, connecting rod 1-11, guide rod 1-12, slide block 1-13, guide bar support 1-14 and leg bar 1-15.Dynamic support 1-3, electric machine support 1-5 is separately fixed on base plate 1-1, motor 1-6 is fixed on electric machine support 1-5, motor 1-6 is connected with the first gear 1-2 by coupler 1-4, first gear 1-2, second gear 1-7, 3rd gear 1-8 is arranged in transmission bracket 1-3 respectively, and the first gear 1-2 engages with the second gear 1-7, second gear 1-7 engages with the 3rd gear 1-8, 3rd gear 1-8 both sides are fixed with one end of crank 1-9 respectively, and the crank 1-9 of both sides is 180 degree of phase angles installations, the other end of crank 1-9 is connected with connecting rod 1-11 one end, rocking bar 1-10 one end is connected with transmission bracket 1-3, the rocking bar 1-10 other end is connected with connecting rod 1-11 mid point, leg bar 1-15 one end is connected with the connecting rod 1-11 other end, the leg bar 1-15 other end is through the slotted eye contact perpendicular to the ground on slide block 1-13 and base plate 1-1, slide block 1-13 is arranged on guide rod 1-12, and direction of slip is parallel with base 1-1 face, guide rod 1-12 two ends and guide bar support 1-14 fix, support 1-14 is fixed on base 1-1.Accompanying drawing 3 is the birds-eye view of leg unit 1, and described crank 1-9, rocking bar 1-10, connecting rod 1-11, guide rod 1-12, slide block 1-13, spatially in being arranged in parallel, avoid mutual motion artifacts.Accompanying drawing 4 is the mechanism kinematic schematic diagram of leg unit 1, and described transmission bracket 1-3, crank 1-9, rocking bar 1-10, connecting rod 1-11, guide rod 1-12, slide block 1-13 and leg bar 1-15 form gemel six-bar mechanism.The length of described connecting rod 1-11 is the twice of rocking bar 1-10, the rotation of crank 1-9 realize the leg bar 1-15 other end formed in plane of movement below near linear, above be the path of motion of curve, realize the walking motion of robot.Multiple leg unit 1 is connected by connecting panel 2, realizes reconstituting of multi-form multi-foot robot, the attached schematic diagram that Figure 5 shows that the sufficient walking robot of rectangle eight that reconstruct is formed, the attached schematic diagram that Figure 6 shows that the sufficient walking robot of rhombus eight that reconstruct is formed.
Principle of work: according to applied environment requirement, multiple leg unit 1 is by the connection of connecting panel 2, form the multi-foot robot of desired form, in device people walking, motor 1-6 in leg unit 1 rotates through the rotation that coupler 1-4 drives the first gear 1-2, first gear 1-2 and the second gear 1-7 engaged transmission, second gear 1-7 and the 3rd gear 1-8 engaged transmission also drive crank 1-9 to rotate, crank 1-9 rotates and realizes the reciprocally swinging of rocking bar 1-10 and the plane motion of connecting rod 1-11, connecting rod 1-11 is with movable slider 1-13 to slide on guide rod 1-12 by leg bar 1-15, thus realize leg bar 1-15 walking motion, because two crank 1-9 in described leg unit 1 are that 180 degree of phase angles are installed, achieve the alternately walking motion of two leg bar 1-15, and have a leg bar 1-15 to support in guarantee any time leg unit 1.In the walking of restructural multi-foot robot, by to adjust in different leg unit 1 motor 1-6 rotating speed and turn to, achieve the advance of restructural multi-foot robot, retrogressing and handling maneuver, and guarantee any time restructural multi-foot robot there is multiple leg bar 1-15 to support.
Claims (2)
1. a restructural multi-foot robot, it is made up of leg unit (1) and connecting panel (2), it is characterized in that: leg unit (1) has multiple, is connected, realizes multi-form multi-foot robot between any two leg unit by connecting panel (2).
2. restructural multi-foot robot according to claim 1, it is characterized in that: leg unit (1) it comprise base plate (1-1), first gear (1-2), transmission bracket (1-3), coupler (1-4), electric machine support (1-5), motor (1-6), second gear (1-7), 3rd gear (1-8), crank (1-9), rocking bar (1-10), connecting rod (1-11), guide rod (1-12), slide block (1-13), guide bar support (1-14) and leg bar (1-15), dynamic support (1-3), electric machine support (1-5) is separately fixed on base plate (1-1), motor (1-6) is fixed on electric machine support (1-5), motor (1-6) is connected with the first gear (1-2) by coupler (1-4), first gear (1-2), second gear (1-7), 3rd gear (1-8) is arranged in transmission bracket (1-3) respectively, and the first gear (1-2) engages with the second gear (1-7), second gear (1-7) engages with the 3rd gear (1-8), 3rd gear (1-8) both sides are fixed with one end of crank (1-9) respectively, and the crank of both sides (1-9) is installed in 180 degree of phase angles, the other end of crank (1-9) is connected with connecting rod (1-11) one end, rocking bar (1-10) one end is connected with transmission bracket (1-3), rocking bar (1-10) other end is connected with connecting rod (1-11) mid point, leg bar (1-15) one end is connected with connecting rod (1-11) other end, leg bar (1-15) other end is through the slotted eye contact perpendicular to the ground on slide block (1-13) and base plate (1-1), slide block (1-13) is arranged on guide rod (1-12), and direction of slip is parallel with base (1-1) face, guide rod (1-12) two ends and guide bar support (1-14) are fixed, support (1-14) is fixed on base (1-1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510171415.XA CN104724202A (en) | 2015-04-13 | 2015-04-13 | Reconstructable multi-legged robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510171415.XA CN104724202A (en) | 2015-04-13 | 2015-04-13 | Reconstructable multi-legged robot |
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| Publication Number | Publication Date |
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| CN104724202A true CN104724202A (en) | 2015-06-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510171415.XA Pending CN104724202A (en) | 2015-04-13 | 2015-04-13 | Reconstructable multi-legged robot |
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| CN (1) | CN104724202A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105231949A (en) * | 2015-08-28 | 2016-01-13 | 徐金鹏 | High-altitude glass cleaning machine |
| CN105620584A (en) * | 2016-04-01 | 2016-06-01 | 安徽理工大学 | Full-pneumatic stepping-type traveling mechanism and pneumatic control system thereof |
| CN106614466A (en) * | 2016-09-14 | 2017-05-10 | 西安理工大学 | Six-foot walking pesticide spraying robot |
| CN107376167A (en) * | 2017-09-06 | 2017-11-24 | 胡增浩 | A kind of structural fire protection equipment |
| CN107414863A (en) * | 2017-09-06 | 2017-12-01 | 舒丹丹 | A kind of energy-conserving and environment-protective solar-energy machine people |
| CN107662663A (en) * | 2017-09-25 | 2018-02-06 | 徐达 | A kind of energy-conserving and environment-protective implement for building |
| CN107963145A (en) * | 2017-12-05 | 2018-04-27 | 长沙展朔轩兴信息科技有限公司 | Restructural multi-foot robot |
| CN109733500A (en) * | 2019-01-28 | 2019-05-10 | 南昌大学 | A kind of restructural hexapod robot device |
| CN110200538A (en) * | 2019-07-18 | 2019-09-06 | 佳木斯大学 | A kind of vacuum adsorption type obstacle detouring glass cleaning machine people and its control method |
| CN110316276A (en) * | 2019-07-27 | 2019-10-11 | 南京蹑波物联网科技有限公司 | A kind of shape walking apparatus of bionical legged type robot |
-
2015
- 2015-04-13 CN CN201510171415.XA patent/CN104724202A/en active Pending
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105231949A (en) * | 2015-08-28 | 2016-01-13 | 徐金鹏 | High-altitude glass cleaning machine |
| CN105231949B (en) * | 2015-08-28 | 2017-08-25 | 冯国权 | A kind of high-altitude glass-cleaning machine |
| CN105620584A (en) * | 2016-04-01 | 2016-06-01 | 安徽理工大学 | Full-pneumatic stepping-type traveling mechanism and pneumatic control system thereof |
| CN106614466A (en) * | 2016-09-14 | 2017-05-10 | 西安理工大学 | Six-foot walking pesticide spraying robot |
| CN107376167A (en) * | 2017-09-06 | 2017-11-24 | 胡增浩 | A kind of structural fire protection equipment |
| CN107414863A (en) * | 2017-09-06 | 2017-12-01 | 舒丹丹 | A kind of energy-conserving and environment-protective solar-energy machine people |
| CN107662663A (en) * | 2017-09-25 | 2018-02-06 | 徐达 | A kind of energy-conserving and environment-protective implement for building |
| CN107963145A (en) * | 2017-12-05 | 2018-04-27 | 长沙展朔轩兴信息科技有限公司 | Restructural multi-foot robot |
| CN109733500A (en) * | 2019-01-28 | 2019-05-10 | 南昌大学 | A kind of restructural hexapod robot device |
| CN109733500B (en) * | 2019-01-28 | 2024-04-05 | 南昌大学 | Reconfigurable hexapod robot device |
| CN110200538A (en) * | 2019-07-18 | 2019-09-06 | 佳木斯大学 | A kind of vacuum adsorption type obstacle detouring glass cleaning machine people and its control method |
| CN110200538B (en) * | 2019-07-18 | 2023-11-17 | 佳木斯大学 | Vacuum adsorption type obstacle surmounting glass cleaning robot and control method thereof |
| CN110316276A (en) * | 2019-07-27 | 2019-10-11 | 南京蹑波物联网科技有限公司 | A kind of shape walking apparatus of bionical legged type robot |
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| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150624 |
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| WD01 | Invention patent application deemed withdrawn after publication |