Six-foot clamping robot and working method
A working method and robot technology, applied in the direction of chucks, manipulators, motor vehicles, etc., can solve the problems of single function and complex structure, and achieve the effect of improving the walking speed
Active Publication Date: 2021-10-01
SHANDONG UNIV
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Problems solved by technology
[0005] However, the existing hexapod robots have relatively single functions and complex structures.
Method used
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[0037] Such as Figure 1-5 As shown, a hexapod gripping robot includes a main body 1, the front part of the main body 1 is equipped with two symmetrically arranged front feet 2, and the middle and rear parts of the main body 1 are respectively equipped with two symmetrically arranged middle and rear feet 3;
[0038] The forefoot 2 includes a first connecting body 101, one end of the first connecting body 101 is hinged to the main body 1, the other end of the first connecting body 101 is hinged to one end of the second connecting body 102, and the other end of the second connecting body 102 is connected to the center The upper part of the frame 201 is hinged, and the lower part of the central connecting frame 201 is hinged with two symmetrically arranged main rod bodies 202, and the lower parts of the main rod bodies 202 are equipped with sliding sleeve rods 203;
[0039]The middle rear foot 3 includes a first connecting body 101, one end of the first connecting body 101 is hin...
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The invention relates to the field of walking clamping mechanical devices, in particular to a six-foot clamping robot and a working method. The six-foot clamping robot comprises a main body, two front feet which are symmetrically arranged are installed on the front portion of the main body, and two middle rear feet which are symmetrically arranged are installed on the middle portion and the rear portion of the main body respectively. The front foot comprises a first connecting body, one end of the first connecting body is hinged to the main body, the other end of the first connecting body is hinged to one end of a second connecting body, the other end of the second connecting body is hinged to the upper portion of a center connecting frame, two symmetrically-arranged main rod bodies are hinged to the lower portion of the center connecting frame, and sliding sleeve rods are installed on the lower portions of the main rod bodies; a rotating rod is hinged to the lower portion of the sliding sleeve rod, and a clamping end is arranged at the tail end of the rotating rod. The middle rear foot comprises a first connector, one end of the first connector is hinged to the body, the other end of the first connector is hinged to one end of a second connector, the other end of the second connector is hinged to the upper portion of a first connecting rod, and the lower portion of the first connecting rod is hinged to the upper portion of a second connecting rod.
Description
technical field [0001] The invention relates to the field of walking and gripping mechanical devices, in particular to a hexapod gripping robot. Background technique [0002] Hexapod robot, also called spider robot, is a kind of multi-legged robot. The gait of the hexapod walking robot is diverse, and the triangular gait is a typical gait for the walking of the hexapod walking robot. When "hexapoda" insects walk, they generally do not move forward in a straight line with six legs at the same time, but divide three pairs of legs into two groups, and move forward alternately in a triangular bracket structure. At present, most of the hexapod robots adopt an insect-like structure. The six legs are distributed on both sides of the body. The left midfoot is another group, which respectively form two triangular brackets, relying on the front and rear strokes of the thighs to realize the support and swing process, which is a typical triangular gait walking method. [0003] CN1068...
Claims
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IPC IPC(8): B62D57/032B25J15/00B25J15/02
CPCB62D57/032B25J15/022B25J15/0052
Inventor 姚云龙张玉妍马广英李鸿博刘思民
Owner SHANDONG UNIV