CN107719510A - Hexapod Robot - Google Patents
Hexapod Robot Download PDFInfo
- Publication number
- CN107719510A CN107719510A CN201711084771.3A CN201711084771A CN107719510A CN 107719510 A CN107719510 A CN 107719510A CN 201711084771 A CN201711084771 A CN 201711084771A CN 107719510 A CN107719510 A CN 107719510A
- Authority
- CN
- China
- Prior art keywords
- motor
- cylinder
- hexapod robot
- bottom plate
- robot according
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of Hexapod Robot, including main body and six identical leg mechanisms, the second motor that the leg support in each leg mechanism is provided with gear-box by one first motor and one drives, and the main body includes top plate and bottom plate；The first motor, the second motor and gear-box for driving same leg support are on same straight line and outside is cased with a cylinder, and the cylinder is vertically connected between the top plate and bottom plate.Hexapod Robot provided by the present invention, the first motor, the second motor and gear-box are on same straight line, have saved space, are helped to reduce the volume and weight of Hexapod Robot, are improved the translational speed and agility of Hexapod Robot.Cylinder is cased with outside the first motor, the second motor and gear-box on same straight line, employs concealed design, cylinder can be protected by the first motor, the second motor and gear-box, and serve supporting role to the top plate in main body and bottom plate.
Description
Technical field
The present invention relates to a kind of running machine, and in particular to a kind of Hexapod Robot.
Background technology
Hexapod Robot is called spider robot, is one kind of multi-foot robot.At present, occurred a variety of six in the world
Biped robot, a kind of Hexapod Robot of Patent No. US4527650 U.S. Patent Publication, it includes main body and six identical
Leg mechanism, six leg mechanisms can be combined and be attached in main body to form complete walking robot.Each leg machine
Structure includes a leg support, a vertical driver mechanism, a horizontal driver mechanism and a pivot drive mechanism, leg support it is vertical
(upper and lower) motion is driven by vertical driver mechanism, and vertical driver is by the first motor as power source.The pivoting action of leg support
By pivot drive, mechanism drives, and the second motor in pivot drive mechanism drives the power of output again after gear-box speed change
Dynamic leg support pivots.Level (left and right) motion of leg support is driven by horizontal driver mechanism.Main body includes spaced apart up and down
And the top plate and bottom plate being coaxially disposed, top plate are connected by rod member with the center of bottom plate and supported.Above-mentioned six sufficient machine
The motor of people first and the second motor are staggeredly arranged, and so as to increase overall space requirement, cause Hexapod Robot volume excessive,
Preponderance, so as to have impact on the action speed of Hexapod Robot, agility is reduced, and Hexapod Robot can not be fitted
Should smaller space operating environment.In addition, top plate and bottom plate are supported in center by rod member, although rod member can play surely
Fixed supporting role, but also result in the space waste between top plate and bottom plate beyond removing rod member.
The content of the invention
It is an object of the invention to provide a kind of structure is more reasonable, space is more saved, space availability ratio is higher, action
Quicker Hexapod Robot.
To achieve these goals, the present invention provides following technical scheme：
A kind of Hexapod Robot, including main body and six identical leg mechanisms, the leg support in each leg mechanism is by one
First motor and second motor for being provided with gear-box are driven, and the main body includes top plate and bottom plate；It is same for driving
The first motor, the second motor and the gear-box of leg support are on same straight line and outside is cased with a cylinder, and the cylinder vertically connects
It is connected between the top plate and bottom plate.
Preferably, the cylinder is thin cylinder, polygon entire body can be also used.
Preferably, offer air dispelling hole on the stack shell of the cylinder.
Preferably, the air dispelling hole is multiple, and suitably arranged on the stack shell of the cylinder.
Preferably, joint strengthening plate is connected between the cylinder and the bottom plate.
Preferably, formed with accommodation space between the top plate and bottom plate.
Preferably, the top plate is an annular slab or the more side plates of hexagon.
Preferably, the bottom plate is in star frame structure.
Preferably, the bottom plate includes central part, ring part and six arms, the centre is in the ring part
Center at, six arms are connected between the central part and ring part and set around 60 degree of central part interval；
Each cylinder is arranged on the junction of an arm and ring part.
Preferably, at the rotation connection of first motor, the second motor and gear-box and the cylinder using pair
Title formula pressure swivel bearing.
Hexapod Robot provided by the present invention, for driving the first motor, the second motor and tooth of same leg mechanism
Roller box is on same straight line, has saved space, is helped to reduce the volume and weight of Hexapod Robot, is improved six sufficient machines
The translational speed and agility of people.Cylinder is cased with outside the first motor, the second motor and gear-box on same straight line, is adopted
With concealed design, cylinder can be protected by the first motor, the second motor and gear-box.In addition, cylinder also serves as simultaneously
Vertical load component serves supporting role to top plate and bottom plate, so as to reduce extra support, to be vacateed in the middle part of main body
It is more to use space.
Brief description of the drawings
, below will be to institute in embodiment in order to illustrate more clearly of the embodiment of the present application or technical scheme of the prior art
The accompanying drawing needed to use is briefly described, it should be apparent that, drawings in the following description are only one described in the present invention
A little embodiments, for those of ordinary skill in the art, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the front view of Hexapod Robot provided in an embodiment of the present invention；
Fig. 2 is the vertical view partial view of Hexapod Robot provided in an embodiment of the present invention；
Fig. 3 is the A-A sectional views in Fig. 1；
Fig. 4 is the stereogram of Hexapod Robot provided in an embodiment of the present invention.
Description of reference numerals：
1st, main body；11st, top plate；12nd, bottom plate；121st, central part；122nd, ring part；123rd, arm；
2nd, leg mechanism；21st, leg support；
3rd, the first motor；4th, the second motor；5th, gear-box；6th, cylinder；7th, joint strengthening plate.
Embodiment
In order that those skilled in the art more fully understands technical scheme, below in conjunction with accompanying drawing to this hair
It is bright to be further detailed.
It should be noted that herein, such as first and second or the like relational terms are used merely to a reality
Body or operation make a distinction with another entity or operation, and not necessarily require or imply and deposited between these entities or operation
In any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant are intended to
Nonexcludability includes, so that process, method, article or terminal device including a series of elements not only include those
Key element, but also the other element including being not expressly set out, or it is this process, method, article or end also to include
The intrinsic key element of end equipment.In the absence of more restrictions, limited by sentence " including ... " or " including ... "
Key element, it is not excluded that other key element in the process including the key element, method, article or terminal device also be present.This
Outside, herein, " being more than ", " being less than ", " exceeding " etc. are interpreted as not including this number；" more than ", " following ", " within " etc. understand
It is to include this number.
As shown in Figures 1 to 4, a kind of Hexapod Robot, it includes main body 1 and six identical leg mechanisms 2, six legs
Portion mechanism 2 can be combined and is attached in main body 1 to form complete walking robot.Each leg mechanism 2 include a leg support 21,
One vertical driver mechanism, a horizontal driver mechanism, a pivot drive mechanism, vertical (upper and lower) motion of leg support 21 is by hanging down
Straight actuator mechanism driving, vertical driver are used as power source by the first motor 3.The pivoting action of leg support 21 is by pivot drive
Mechanism drives, and by the power of output, through gear-box 5, (gear-box 5 is arranged on the second horse to the second motor 4 in pivot drive mechanism
It is connected on up to 4 and with the second motor 4, and the two is coaxially disposed) drive leg support 21 to pivot again after speed change.The level of leg support 21
(left and right) motion is driven by horizontal driver mechanism.Main body 1 then includes top plate 11 that is spaced apart up and down and being coaxially disposed
With bottom plate 12.Main body 1, leg mechanism 2, vertical driver mechanism, pivot drive mechanism, the detailed of horizontal driver mechanism are retouched
State the United States Patent (USP) disclosure of that for referring to Patent No. US4527650.
Hexapod Robot in the present embodiment is the improvement to above-mentioned technical proposal, as follows at its improvement：
As shown in figure 1, for driving the first motor 3, the second motor 4 and gear-box 5 of same leg support 21 to be in always
On line, saved space, contribute to reduce Hexapod Robot volume and weight, improve Hexapod Robot translational speed and
Agility.Cylinder 6 is cased with outside the first motor 3, the second motor 4 and gear-box 5 on same straight line, is employed concealed
Design, cylinder 6 can be protected by the first motor, the second motor and gear-box.Cylinder 6 is vertically connected on top plate 11 and bottom plate 12
Between, supporting role is served to top plate 11 and bottom plate 12 as vertical load component, further with improvement, by top plate 11 and bottom
The supporting bar of center position removes between plate 12, reduces extra support, formed with appearance between top plate 11 and bottom plate 12
Between being empty, available for placing article, more space is used so as to vacateed for the middle part of main body 1.Furthermore it is preferred that cylinder 6 is
Thin cylinder, help further to mitigate the overall weight of robot.In addition, the cylinder 6 is also designed to Polygonal barrel.
And air dispelling hole is offered on the stack shell of cylinder 6, in order to scattered gas of divulging information.Air dispelling hole can be multiple, and on the stack shell of cylinder 6
Appropriate arrangement, so-called " appropriate arrangement ", it is exactly that technical staff can exist multiple air dispelling holes according to the material of cylinder 6, shape etc.
Uniformly arranged on cylinder 6.
In order to lift the bonding strength between cylinder 6 and main body 1, then, as shown in figures 1 and 3, in cylinder 6 and bottom plate
Joint strengthening plate 7 is connected between 12.7 rectangular triangle of joint strengthening plate, a right-angle side are connected with the stack shell of cylinder 6,
Another right-angle side is connected with bottom plate 12.
As shown in Fig. 2 top plate 11 is an annular slab, preferably Circular Plate, after this Circular Plate is rolled into circle by square tube clod wash
It is welded into full circle.Top plate 11 may be designed as hexagonal polygonal panel in addition to the annular slab in design cost embodiment.Such as Fig. 3
Shown, bottom plate 12 is in star frame structure, with support object.The bottom plate 12 includes central part 121, ring part 122 and six arms
Portion 123, central part 121 are located at the center of ring part 122, six arms 123 be connected to central part 121 and ring part 122 it
Between and around central part 121 be spaced 60 degree set.122 preferred annulus of ring part, arm 123 are square tube, and arm 123 and ring
Welded between shape portion 122 by small pipe, small pipe and the square tube that arm 123 is made are highly consistent, and close above and below small pipe
Envelope.
Each cylinder 6 is arranged on the junction of an arm 123 and ring part 122, and joint strengthening plate 7 is then connected to arm
On 123.
Further with improvement, at the rotation connection of the first motor 3, the second motor 4 and gear-box 5 and cylinder 6 using pair
Title formula pressure swivel bearing, while reducing resistance, pressure can be evenly transferred on the cylinder 6 of centre.
Some one exemplary embodiments of the present invention are only described by way of explanation above, undoubtedly, for ability
The those of ordinary skill in domain, without departing from the spirit and scope of the present invention, can be with a variety of modes to institute
The innovative design again of the embodiment of description.Therefore, above-mentioned accompanying drawing and description are inherently illustrative, should not be construed as to this hair
The limitation of bright claims.
Claims (10)
1. a kind of Hexapod Robot, including main body and six identical leg mechanisms, the leg support in each leg mechanism is by one
One motor and second motor for being provided with gear-box are driven, and the main body includes top plate and bottom plate, it is characterised in that is used for
Drive that the first motor, the second motor and gear-box of same leg support are on same straight line and outside is cased with a cylinder, the cylinder
Body is vertically connected between the top plate and bottom plate.
2. Hexapod Robot according to claim 1, it is characterised in that the cylinder is thin cylinder or polygon cylinder
Body.
3. Hexapod Robot according to claim 1, it is characterised in that offer air dispelling hole on the stack shell of the cylinder.
4. Hexapod Robot according to claim 3, it is characterised in that the air dispelling hole is multiple, and in the cylinder
Stack shell on suitably arrange.
5. Hexapod Robot according to claim 1, it is characterised in that section is connected between the cylinder and the bottom plate
Point reinforcing plate.
6. Hexapod Robot according to claim 1, it is characterised in that formed with accommodating sky between the top plate and bottom plate
Between.
7. Hexapod Robot according to claim 1, it is characterised in that the top plate is an annular slab or hexagonal polygon
Plate.
8. Hexapod Robot according to claim 1, it is characterised in that the bottom plate is in star frame structure.
9. Hexapod Robot according to claim 8, it is characterised in that the bottom plate includes central part, ring part and six
Individual arm, at the center of the ring part, six arms are connected between the central part and ring part in the centre
And around the setting of 60 degree of central part interval；
Each cylinder is arranged on the junction of an arm and ring part.
10. Hexapod Robot according to claim 1, it is characterised in that first motor, the second motor and gear-box
Symmetrical expression pressure swivel bearing is used at rotation connection with the cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711084771.3A CN107719510A (en) | 2017-11-07 | 2017-11-07 | Hexapod Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711084771.3A CN107719510A (en) | 2017-11-07 | 2017-11-07 | Hexapod Robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107719510A true CN107719510A (en) | 2018-02-23 |
Family
ID=61221679
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711084771.3A Pending CN107719510A (en) | 2017-11-07 | 2017-11-07 | Hexapod Robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107719510A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4527650A (en) * | 1983-03-18 | 1985-07-09 | Odetics, Inc. | Walking machine |
| KR20090085176A (en) * | 2008-02-04 | 2009-08-07 | 한국과학기술원 | Multiple wheel-leg hybrid mobile robot and control method |
| WO2011102528A1 (en) * | 2010-02-22 | 2011-08-25 | 学校法人日本大学 | Mobile robot |
| US20130238123A1 (en) * | 2012-03-12 | 2013-09-12 | Empire Technology Development Llc | Robotic appendages |
| US20140060224A1 (en) * | 2011-05-25 | 2014-03-06 | Hitachi, Ltd. | Head structure of robot, and driving method for the head |
| CN104443105A (en) * | 2014-10-29 | 2015-03-25 | 西南大学 | Low-energy-loss six-foot robot |
| CN207374537U (en) * | 2017-11-07 | 2018-05-18 | 深圳雅尔卑斯动力有限公司 | Hexapod Robot |
-
2017
- 2017-11-07 CN CN201711084771.3A patent/CN107719510A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4527650A (en) * | 1983-03-18 | 1985-07-09 | Odetics, Inc. | Walking machine |
| KR20090085176A (en) * | 2008-02-04 | 2009-08-07 | 한국과학기술원 | Multiple wheel-leg hybrid mobile robot and control method |
| WO2011102528A1 (en) * | 2010-02-22 | 2011-08-25 | 学校法人日本大学 | Mobile robot |
| US20140060224A1 (en) * | 2011-05-25 | 2014-03-06 | Hitachi, Ltd. | Head structure of robot, and driving method for the head |
| US20130238123A1 (en) * | 2012-03-12 | 2013-09-12 | Empire Technology Development Llc | Robotic appendages |
| CN104443105A (en) * | 2014-10-29 | 2015-03-25 | 西南大学 | Low-energy-loss six-foot robot |
| CN207374537U (en) * | 2017-11-07 | 2018-05-18 | 深圳雅尔卑斯动力有限公司 | Hexapod Robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106255575B (en) | Industrial robot | |
| CN205673802U (en) | Hand-rail type liftable ball bracket | |
| CN106718216A (en) | A kind of height-adjustable folding vegetable planting rack | |
| CN201809112U (en) | Indoor lifting device | |
| CN107484352A (en) | A kind of automatic turning device of charging pile production welder for circuit board | |
| CN207374537U (en) | Hexapod Robot | |
| CN107719510A (en) | Hexapod Robot | |
| CN106344294A (en) | Auxiliary standing chair | |
| CN207026041U (en) | A kind of placement bucket for building building cement slurry | |
| CN206511877U (en) | Fertilizer hoisting mechanism | |
| CN201094958Y (en) | Large transfusion supersonic wave bottle cleaning machine | |
| CN207451564U (en) | Mechanical telescopic arm convenient to transport | |
| CN206482748U (en) | Auxiliary standing chair | |
| CN213871401U (en) | Gas pipeline push pipe construction equipment | |
| CN206373301U (en) | A kind of steel wire coil cradle for being easy to feed | |
| CN206458784U (en) | A kind of flexible axle universal gear case on rain shade | |
| CN213475353U (en) | Highway electromechanical construction aerial working platform | |
| CN212475969U (en) | Lifter of movable display wall | |
| CN217990765U (en) | Simple device for assisting bending of reinforcing steel bars | |
| CN206855456U (en) | A kind of automatically walk chassis of sanitation robot | |
| CN204132698U (en) | Storage folding table | |
| CN216167162U (en) | Multi-arm automatic balancing device of window cleaning machine | |
| CN206589933U (en) | Transport frame for glass sheets | |
| CN2808766Y (en) | Charge basket | |
| CN206867690U (en) | A kind of rotary lifting mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |