Robot with single-rotation axis and multi-expansion leg

Abstract

The invention relates to an industry-used robot with a single rotating shaft and multi-retractable legs, which comprises a center support body; a plurality of layered and staggered legs are arranged on the center support body; each leg comprises an upper arm, a connecting arm and a footplate, which are rotationally connected in sequence; all of the upper arms are in parallel and can rotate around the center support body; an upper arm rotation driving mechanism is arranged between each upper arm and the center support body, wherein, the upper arm adopts an upper arm retractable cylinder, the connecting arm adopts a lower arm retractable cylinder, and two autorotation-proof structures are respectively arranged on the upper arm retractable cylinder and the lower arm retractable cylinder; and a rotation working cylinder used for driving the lower arm retractable cylinder to rotate is hinged with two sides of a rotating shaft between the upper arm retractable cylinder and the lower arm retractable cylinder. The robot can walk more conveniently and flexibly; meanwhile, the invention greatly reduces the number of the driving motors, and air cylinders or oil cylinders are adopted to accomplish action; therefore, the manufacturing cost is reduced, and the invention can be further popularized and applied in industry.

Description

【Technical field】 [0001] The present invention relates to a robot used in industry. 【Background technique】 [0002] The Chinese patent No. 200620155668.4 discloses a robot. Although it has a strong ability to overcome obstacles and can rotate in a full range of 360 degrees, in actual work, each limb is rotating, advancing, lifting, etc. When moving, it is easy to be interfered by other limbs in adjacent positions. In order to avoid collision between them, it is necessary to precisely and complexly control the swing drive mechanism of each connecting arm and upper arm to adjust the distance between the limbs and legs. The position of the robot is relatively slow and inflexible during the walking process, so it is necessary to improve it. [Content of the invention] [0003] The purpose of the present invention is to overcome the deficiencies of the prior art, and to provide a single-rotation-axis multi-telescopic limb-leg robot with more convenient and flexible walking, whi...

AI Technical Summary

Problems solved by technology

[0002] The Chinese patent No. 200620155668.4 discloses a robot, although it has a strong ability to overcome obstacles and can rotate in a full range of 360 degrees, but in actual work, each limb is rotating, advancing, lifting, etc. When moving, it is easy to be interfered by other limbs and legs in adjacent positions. In order to avoid collisions between them, it is necessary to adjust the distance between the limbs and legs through precise and complex control of the swing driving mechanism of each connecting arm and upper arm. position, which leads to the slow and inflexible movement of the robot during walking, so it is necessary to improve it

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