A multi-legged robot

Abstract

The present invention provides a multi-legged robot, comprising: at least two connected vehicle bodies; the front end of the vehicle body has a ball head, and the rear end has a ball seat; the ball seat of the first vehicle body can form a ball joint with the ball seat of the second vehicle body; thereby connecting the two vehicle bodies; at least two legs are arranged on both sides of the vehicle body. The multi-legged robot provided by the present invention changes the height of the vehicle body by the tilt angle of the legs, and can adjust any leg angle arbitrarily to adapt to the inclined ground; at the same time, the design of the walking foot is adopted to adapt to the state of the ground.

Description

Technical Field

[0001] The invention relates to a multi-legged robot and belongs to the technical field of breeding equipment. Background Art

[0002] Raising silkworms requires a large amount of mulberry leaves, so a large number of mulberry trees are needed. Naturally grown mulberry trees are generally tree-like, and it is inconvenient to pick leaves. In the production of silkworms and mulberry trees, manual pruning and shaping are required. At the same time, the height of the branches of mulberry trees varies according to the age of the mulberry trees, ranging from tens of centimeters to about one and a half meters. The branches of mulberry trees are dense, and it is difficult for pruning equipment and leaf picking equipment to pass without damaging the branches. In the existing technology, when using machinery for pruning and leaf picking, low-height equipment is used to pass under the branches, but this requires the operator to bend over constantly to perform the operation, which greatly increases the labor intensity. Summary of the invention

[0003] The technical problem to be solved by the present invention is: to overcome the disadvantages of the above-mentioned technology and provide a multi-legged robot capable of adaptive height.

[0004] In order to solve the above technical problems, the technical solution proposed by the present invention is: a multi-legged robot, comprising: at least two connected car bodies; the front end of the car body has a ball head, and the rear end has a ball seat; the ball seat of the front car body can form a ball joint with the ball seat of the rear car body; thereby connecting the two car bodies; at least two legs are arranged on both sides of the car body; one end of the leg is hinged to the car body, and the other end is equipped with a walking foot; the walking foot includes a trident and a claw hinged at the end of the trident, and the bottom end of the claw has teeth; the center of the trident is hinged to the other end of the leg; the car body has a first motor and a second motor, and a battery for powering the first motor and the second motor; the output of the first motor drives the leg to rotate through a first reducer; the output of the second motor drives the trident to rotate through a second reducer.

[0005] A further improvement of the above scheme is that: the output of the first motor is connected to the first reducer; the first reducer is connected to the first drive shaft; and the first drive shaft drives the support leg to rotate.

[0006] A further improvement of the above scheme is that: the output of the second motor is connected to the second reducer; the second reducer is connected to the second drive shaft; the second drive shaft is connected to the chain sleeved on the support leg through a sprocket; and the chain drives the tripod arm to rotate.

[0007] A further improvement of the above solution is that: the second drive shaft is a hollow shaft, and the first drive shaft passes through the second drive shaft.

[0008] A further improvement of the above scheme is that the support leg on one side of the vehicle body is inclined toward the front end of the vehicle body, and the support leg on the other side is inclined toward the rear end of the vehicle body.

[0009] A further improvement of the above solution is that equipment can be carried on the top of the vehicle body.

[0010] A further improvement of the above scheme is that the ball head and the ball seat are both arranged on the vehicle body through an extension rod, and the ball seat and the extension rod connected to the ball seat have a groove.

[0011] A further improvement of the above solution is that: the end of the tripod arm is provided with a limit block, which can limit the swing range of the claw when the tripod arm rotates.

[0012] The multi-legged robot provided by the present invention changes the height of the vehicle body by the tilt angle of the legs, and can arbitrarily adjust any leg angle to adapt to the inclined ground; at the same time, the design of the walking feet is adopted to adapt to the state of the ground. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The present invention will be further described below in conjunction with the accompanying drawings.

[0014] Figure 1 It is a schematic structural diagram of a preferred embodiment of the present invention.

[0015] Figure 2 yes Figure 1 Schematic diagram of the structure viewed from above.

[0016] Figure 3 yes Figure 1 Schematic diagram of the structure in the elevated state. DETAILED DESCRIPTION Example

[0017] The multi-legged robot of this embodiment, such as Figure 1 and Figure 2 As shown, it includes: two connected car bodies 1; the front end of the car body 1 has a ball head 2, and the rear end has a ball seat 3; the ball seat of the front car body can form a ball joint with the ball seat of the rear car body; thereby connecting the two car bodies.

[0018] Two legs 4 are arranged on both sides of the vehicle body 1; one end of the leg 4 is hinged to the vehicle body 1, and the other end 4 is equipped with a walking foot; the walking foot includes a trident 5 and a claw 6 hinged to the end of the trident, and the bottom end of the claw 6 has teeth. The center of the trident 5 is hinged to the other end of the leg 4; the vehicle body 1 has a first motor 7 and a second motor 8, and a battery 9 for powering the first motor 7 and the second motor 8. The output of the second motor 8 is connected to the second reducer 11, and then output to the hinge point of the leg 4 and the vehicle body 1 through the second drive shaft, and then the chain 12 mounted on the leg 4 is driven by the sprocket to drive the trident 5 to rotate. The output of the first motor 7 is connected to the first reducer 10, and then output through the first drive shaft and drives the leg 4 to rotate. The second drive shaft is a hollow shaft to accommodate the first drive shaft passing through it.

[0019] The supporting legs on one side of the vehicle body 1 are inclined toward the front end of the vehicle body, and the supporting legs on the other side are inclined toward the rear end of the vehicle body.

[0020] The top of the vehicle body 1 can carry equipment. In this embodiment, in order to facilitate the display of its internal structure, the top cover of the vehicle body is not shown.

[0021] In order to adapt to the length of the support leg 4, the ball head 2 and the ball seat 3 are arranged on the vehicle body 1 through an extension rod. In order to facilitate disassembly and assembly, the ball seat 3 and the extension rod connected to the ball seat have grooves.

[0022] In order to prevent the claw 6 from getting stuck when the tripod arm rotates and failing to flip over normally, and the bottom end from facing the ground when touching the ground, the end of the tripod arm 5 has two limit blocks 13, which can limit the swing range of the claw when the tripod arm rotates.

[0023] In this embodiment, the two side legs are oriented in different directions, and each vehicle body has four legs; therefore, two vehicles and eight legs are the minimum configuration to maintain balance. More vehicle bodies can be used according to site requirements. During operation, walking is achieved by the second motor driving the trident to rotate. The center of gravity of the claw can keep the claw automatically facing the bottom surface when the trident is in the low position, and the teeth on it can adapt to different ground conditions and obtain sufficient grip. Compared with the solution using tires, it can better adapt to the ground in conditions such as muddy ground. Each trident is driven to rotate independently, thereby achieving higher flexibility.

[0024] The legs of this embodiment provide support, and the first motor drives the legs to adjust their tilt angles, while the first reducer provides corresponding resistance to prevent the legs from changing their angles when forced. The second motor drives the legs to change their tilt angles, and the height of the vehicle body can be flexibly adjusted according to the site height, such as Figure 3 The figure shows the state after the lift. Each leg is driven independently and adjusted independently according to the site conditions, so that the whole structure can be tilted to adapt to the inclined slope and other ground conditions.

[0025] In this embodiment, the first and last are only used to express the corresponding relationship, rather than the first and last of the actual working status.

[0026] The present invention is not limited to the above-mentioned embodiments. Any technical solutions formed by equivalent replacement, such as a single body, six legs, etc., all fall within the protection scope required by the present invention.

Claims

1. A multi-legged robot, characterized in that: include: At least two connected vehicle bodies; the front end of the vehicle body has a ball head, and the rear end has a ball seat; the ball seat of the front vehicle body can form a ball joint with the ball seat of the rear vehicle body; thereby connecting the two vehicle bodies; at least two legs are arranged on both sides of the vehicle body; one end of the leg is hinged to the vehicle body, and the other end is equipped with a walking foot; the walking foot includes a trident and a claw hinged to the end of the trident, and the bottom end of the claw has teeth; the center of the trident is hinged to the other end of the leg; the vehicle body has a first motor and a second motor, and a battery for powering the first motor and the second motor; The output of the first motor drives the support leg to rotate through the first reducer; The output of the second motor drives the tripod arm to rotate through the second reducer; The output of the first motor is connected to the first reducer; the first reducer is connected to the first drive shaft; the first drive shaft drives the support leg to rotate; the output of the second motor is connected to the second reducer; the second reducer is connected to the second drive shaft; the second drive shaft is connected to a chain sleeved on the support leg through a sprocket; the chain drives the tripod arm to rotate; the second drive shaft is a hollow shaft, and the first drive shaft passes through the second drive shaft; the support leg on one side of the vehicle body is inclined toward the front end of the vehicle body, and the support leg on the other side is inclined toward the rear end of the vehicle body.

2. The multi-legged robot according to claim 1, characterized in that: The top of the vehicle body can carry equipment.

3. The multi-legged robot according to claim 1, characterized in that: The ball head and the ball seat are both arranged on the vehicle body through an extension rod, and the ball seat and the extension rod connected to the ball seat are provided with a groove.

4. The multi-legged robot according to claim 1, characterized in that: The end of the tripod arm is provided with a limit block, which can limit the swing range of the claw when the tripod arm rotates.

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