CN206544552U - A kind of novel ball Hexapod Robot - Google Patents

Abstract

The utility model relates to the technical field of hexapod robots, in particular to a novel spherical hexapod robot. Including upper limb shell, intermediate rolling support plate assembly, lower limb, lower limb shell, control system, upper limb, lower half of the whole machine assembly, lower support plate, DC motor reduction gear box, sliding and unfolding support mechanism assembly, etc., the upper limb The shell is fixedly connected to the upper limbs, the upper limbs are fixedly connected to the upper limb mounting plate, the control system is installed on the upper limb mounting plate, and the upper limb mounting plate is fixedly connected to the middle rolling support plate assembly through a short support aluminum column. Beneficial effect: it has two motion modes, which can be applied to a variety of different terrain conditions, adopts spherical rolling in gentle areas and soft soil areas; adopts hexapod movement in areas with steep slopes and rough terrain; the adaptability is enhanced, and the movement The efficiency is improved; at the same time, the robot is equipped with a shell to protect the internal structure, and the working reliability is also improved.

Description

A New Spherical Hexapod Robot

technical field

The utility model relates to the technical field of hexapod robots, in particular to a novel spherical hexapod robot.

Background technique

At present, there are many types of robots involved in the field of hexapod robot technology, but most of the hexapod robots can move in places with steep slopes or rough terrain, but they move slowly in flat areas and areas with soft soil. To a certain extent, the phenomenon of low working efficiency of the robot is caused. Since the hexapod robot does not have a shell that can protect the internal structure, it is easy to cause damage to the internal structure of the robot; It is faster, but it is difficult to exercise in places with steep slopes or rough terrain, and its adaptability is relatively poor. Therefore, by improving the structure of the hexapod robot, a new spherical hexapod robot is designed, which has the application advantages of both hexapod robots and spherical robots, and has good practical value and engineering application prospects.

Utility model content

The utility model aims to solve the above problems, and provides a new type of spherical hexapod robot, which overcomes the disadvantages of the traditional hexapod robot's slow moving speed in gentle areas and the spherical robot's inability to adapt to rough terrain. A spherical hexapod robot with a high degree of freedom of modification and a spherical hexapod that can move quickly in a flat area with a spherical structure that can move in rough terrain. The technical scheme adopted is as follows:

A new type of spherical hexapod robot, including upper limb shell, middle rolling support plate assembly, lower limb, lower limb shell, control system, upper limb, lower half of the whole machine assembly, lower support plate, DC motor reduction gear box, sliding and unfolding support Mechanism assembly, leg bracket, foot end, steering gear, clip sleeve, support bracket, gear, optical shaft, flange bearing, sliding rack, long support aluminum column, short support aluminum column, upper limb mounting plate, rolling support plate, lower support plate, the upper limb shell is fixedly connected with the upper limb, the upper limb is fixedly connected with the upper limb mounting plate, the control system is installed on the upper limb mounting plate, and the upper limb mounting plate is supported by a short supporting aluminum column and the middle rolling support The plate assembly is fixedly connected, the middle rolling support plate assembly is composed of two rolling support plates connected by long supporting aluminum columns, the middle rolling supporting plate assembly is connected with the lower supporting plate through short supporting aluminum columns, and the lower supporting plate The support plate is fixedly connected with the lower half of the support plate, the lower half of the support plate is fixedly connected with the lower half of the complete machine assembly, the lower limb shell is fixedly connected with the lower limb, and the DC motor reduction gear box is fixedly connected with the lower support On the plate, the gear and the sliding rack are meshed with each other, and the sliding rack is connected with the sliding deployment support mechanism assembly and can slide in the sliding deployment support mechanism assembly, and the sliding deployment support mechanism assembly is connected with the lower half The support plate is fixed.

Preferably, the lower limbs are composed of a leg bracket, a foot end, and a steering gear, the foot end is fixedly connected with the steering gear, the steering gear is connected with the leg bracket and can rotate, and the leg bracket is connected with two The two-degree-of-freedom structural assembly composed of the steering gear is connected, and the steering gear in the two-degree-of-freedom structural assembly is connected with the sliding rack.

Preferably, the sliding deployment support mechanism assembly is composed of a snap sleeve, a support bracket, an optical shaft, and a flange bearing, the flange bearing is connected to the optical shaft, the optical shaft is connected to the support bracket, and the optical shaft Fixedly connected with the clamping sleeve, the sliding rack can slide in the gap formed by the flange bearing.

Preferably, there are 6 upper limbs and 6 lower limbs.

The utility model has the following advantages: it has two kinds of motion modes, and can be applied to many different terrain conditions, adopts spherical rolling in gentle areas and soft soil areas; adopts hexapod movement in areas with steep slopes and rugged terrains; adaptability It is enhanced, and the moving efficiency is improved; at the same time, the robot is equipped with a shell to protect the internal structure, and the working reliability is also improved.

Description of drawings

Fig. 1: the three-dimensional structure schematic diagram of the utility model;

Figure 2: Schematic diagram of the deployment structure of the lower limbs of the utility model;

Fig. 3: the local structural schematic diagram of the utility model;

Figure 4: Schematic diagram of the spherical posture of the utility model;

Figure 5: Schematic diagram of the spherical rolling posture of the utility model;

Symbol Description:

1 upper limb shell, 2 middle rolling support plate assembly, 3 lower limb, 4 lower limb shell, 5 control system, 6 upper limb, 7 lower half machine assembly, 8 lower supporting plate, 9 DC motor reduction gear box, 10 slide unfold Supporting mechanism assembly, 11 leg bracket, 12 foot end, 13 steering gear, 14 clip sleeve, 15 support bracket, 16 gear, 17 optical axis, 18 flange bearing, 19 sliding rack, 20 long support aluminum column, 21 short support aluminum columns, 22 upper limb mounting plates, 23 rolling support plates, 24 lower support plates.

detailed description

Below in conjunction with accompanying drawing and example the utility model is described further:

As shown in Figures 1-5, the utility model is a new type of spherical hexapod robot, including an upper limb shell 1, a middle rolling support plate assembly 2, a lower limb 3, a lower limb shell 4, a control system 5, an upper limb 6, and a whole lower half Machine assembly 7, lower support plate 8, DC motor reduction gear box 9, sliding and unfolding support mechanism assembly 10, leg bracket 11, foot end 12, steering gear 13, clamping sleeve 14, support bracket 15, gear 16, Optical axis 17, flange bearing 18, sliding rack 19, long support aluminum column 20, short support aluminum column 21, upper limb mounting plate 22, rolling support plate 23, lower support plate 24, described upper limb shell 1 and upper limb 6 solid connected, the upper limb 6 is fixedly connected with the upper limb mounting plate 22, the control system 5 is mounted on the upper limb mounting plate 22, and the upper limb mounting plate 22 is fixedly connected with the middle rolling support plate assembly 2 through the short support aluminum column 21, The middle rolling support plate assembly 2 is composed of two rolling support plates 23 connected by a long support aluminum column 20, and the middle rolling support plate assembly 2 is connected with a lower support plate 24 by a short support aluminum column 21. The support plate 24 is fixedly connected with the lower half support plate 8, the lower half support plate 8 is fixedly connected with the lower half complete machine assembly 7, the lower limb shell 4 is fixedly connected with the lower limb 3, and the gear 16 is installed on On the DC motor reduction gear box 9, and intermesh with the sliding rack 19, the DC motor reduction gear box 9 is fixedly connected on the lower support plate 8, and the sliding rack 19 is connected with the sliding and unfolding support mechanism assembly 10 and It can slide in the sliding deployment support mechanism assembly 10 , and the sliding deployment support mechanism assembly 10 is fixedly connected with the lower half support plate 8 .

Preferably, the lower limb 3 is composed of a leg bracket 11, a foot end 12, and a steering gear 13. The foot end 12 is fixedly connected to the steering gear 13, and the steering gear 13 is connected to the leg bracket 11 and is rotatable. The leg bracket 11 is connected to a two-degree-of-freedom structure assembly composed of two steering gears 13 , and the steering gear 13 in the two-degree-of-freedom structure assembly is connected to a sliding rack 19 .

Preferably, the sliding deployment support mechanism assembly 10 is composed of a clamping sleeve 14, a support bracket 15, an optical shaft 17, and a flange bearing 18. The flange bearing 18 is connected to the optical shaft 17, and the optical shaft 17 is connected to the The support bracket 15 is connected, the optical axis 17 is fixedly connected with the locking sleeve 14 , and the sliding rack 19 can slide in the gap formed by the flange bearing 18 .

Preferably, there are six upper limbs 6 and six lower limbs 3 .

When the utility model is used, it has two motion modes: hexapod mode and spherical mode.

(1) When the spherical hexapod robot moves in the hexapod mode, the output shaft of the DC motor reduction gearbox 9 drives the gear 16 to rotate, and the rotation of the gear 16 drives the gear slider 19 to slide in the gap formed by the flange bearing 18 , the gear 16 forwardly rotates to drive the slide bar 19 to slide inwardly. When the shortest extension length is reached, the control system 5 controls the motor in the DC motor reduction gear box 9 to stop moving, so that the gear slide bar 19 stops at the shortest extension length. , to realize the contraction of the lower limbs 3; the gear 16 reverses to drive the slide bar 19 to slide outward, and when the maximum extension length is reached, the control system 5 controls the motor in the DC motor reduction gear box 9 to stop moving, so that the gear slide bar 19 stops At the shortest extension length, the extension of the lower limbs 3 is realized; thus the purpose of expanding or reducing the movement radius of the lower limbs is realized.

(2) When it moves in a spherical mode, the robot supports the whole machine through the contact between the middle rolling support plate assembly 2 and the ground, and the control system 5 controls the rudders at the joints of the upper limb 6 and the lower limb 3 closest to the ground The movement of the machine 13 makes the upper limbs 6 and the lower limbs 3 spread out together, and the upper limbs shell 1 and the lower limbs shell 4 are launched to contact with the ground to form a driving force. When the whole machine rolls over a certain angle, the new upper limbs 6 and the lower limbs 3 Roll to the nearest place from the ground, the original upper limbs 6 and lower limbs 3 move back to their original positions, the new upper limbs 6 and lower limbs 3 closest to the ground start to move, and the new upper limb shell 1 and lower limb shell 4 unfold to contact the ground, forming The driving force repeats the previous actions in turn, so that the robot can continuously roll forward; when the upper limbs 6 and the lower limbs 3 have different expansion ranges, the rolling direction of the whole machine can be controlled.

The utility model has been described above with examples, but the utility model is not limited to the above-mentioned specific embodiments, and any changes or modifications made based on the utility model all belong to the protection scope of the utility model.

Claims (3)

1. a kind of novel ball Hexapod Robot, it is characterised in that：Including upper limbs shell, middle rolling support plate assembly, lower limb, Lower limb shell, control system, upper limbs, the latter half complete machine assembly, lower support plate, direct current generator reduction gear box, slip exhibition Spending support mechanism assembly, leg support frame, sufficient end, steering wheel, screens set, supporting support, gear, optical axis, flange bearing, slide teeth Bar, long support aluminium post, short support aluminium post, upper limbs installing plate, rolling support plate, lower supporting plate, the upper limbs shell are consolidated with upper limbs Even, the upper limbs is connected with upper limbs installing plate, and the control system is arranged on upper limbs installing plate, and the upper limbs installing plate passes through Short support aluminium post is connected with middle rolling support plate assembly, and the middle rolling support plate assembly is passed through by two rolling support plates Long support aluminium post connection composition, the middle rolling support plate assembly by it is short support aluminium post be connected with lower supporting plate, it is described under Supporting plate is connected with lower half supporting plate, and the lower half supporting plate is connected with the latter half complete machine assembly, the lower limb shell It is connected with lower limb, the direct current generator reduction gear box is connected on lower support plate, and the gear is mutually nibbled with sliding rack Close, the sliding rack is connected with slip expansion supporting mechanism assembly and can slided in expansion supporting mechanism assembly is slided, institute Slip expansion supporting mechanism assembly is stated to be connected with lower half supporting plate.

2. a kind of novel ball Hexapod Robot according to claim 1, it is characterised in that：The lower limb are by leg branch Frame, sufficient end, steering wheel composition, the sufficient end are connected with steering wheel, and the steering wheel is connected and rotatable with leg support frame, the leg branch Frame is connected with the two-freedom structural assembly being made up of two steering wheels, steering wheel and slide teeth in the two-freedom structural assembly Bar is connected.

3. a kind of novel ball Hexapod Robot according to claim 1, it is characterised in that：It is described to slide expansion support machine Structure assembly is made up of screens set, supporting support, optical axis, flange bearing, and the flange bearing is connected with optical axis, the optical axis and branch Support connection is supportted, the optical axis is connected with screens set, and the sliding rack can be slided in the gap that flange bearing is constituted.