Multi-legged robot

Abstract

The invention provides a multi-legged robot. The multi-legged robot comprises a robot body, and a plurality of supporting legs are connected to the outer portion of the robot body; the supporting legs comprise a rear end leg connected with the machine body, a middle end leg connected with the rear end leg, and a front end leg connected with one end, far away from the rear end leg, of the middle end leg; a first limiting mechanism is connected between the rear end leg and the robot body, a second limiting mechanism is connected between the rear end leg and the middle end leg, a third limiting mechanism is connected between the middle end leg and the front end leg, and the first limiting mechanism is the same as the second limiting mechanism and the third limiting mechanism in structure. Through the three-section type supporting leg structure and the arrangement of the multiple steering engines, the legs of the robot have high flexibility, and the robot can adapt to various complex terrains and work tasks.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of robots, and particularly relates to a multi-legged robot. Background Art

[0002] With the development of technology, in modern society, multi-legged robots such as crawling robots and bionic robots are increasingly widely used.

[0003] However, existing multi-legged robots still have problems in the stability and flexibility control of the leg structure. During walking, the leg joints are prone to excessive rotation or dislocation, which not only affects the movement accuracy of the robot but may also cause the robot to fall or be damaged. Summary of the Invention

[0004] The present invention mainly provides a multi-legged robot to solve the technical problems proposed in the above background art.

[0005] The technical solution adopted by the present invention to solve the above technical problems is as follows:

[0006] A multi-legged robot includes a fuselage, and a plurality of support legs are connected to the outside of the fuselage;

[0007] The support legs include a rear leg connected to the fuselage, a middle leg connected to the rear leg, and a front leg connected to one end of the middle leg away from the rear leg;

[0008] A first limiting mechanism is connected between the rear leg and the fuselage, a second limiting mechanism is connected between the rear leg and the middle leg, and a third limiting mechanism is connected between the middle leg and the front leg. The first limiting mechanism has the same structure as the second limiting mechanism and the third limiting mechanism.

[0009] Further, the rear leg includes a first U-shaped frame connected to the upper surface of the fuselage, a first servo motor connected to the upper surface of the first U-shaped frame, and a first U-shaped connecting joint connected to the output shaft of the first servo motor. The bottom end of the first U-shaped connecting joint is rotatably connected to the fuselage.

[0010] Further, the middle leg includes a second U-shaped connecting joint connected to one end of the first U-shaped connecting joint away from the first servo motor. One end of the second U-shaped connecting joint away from the first U-shaped connecting joint is connected to a rotating leg. A first groove is provided on the leg body of the rotating leg, and a second servo motor is connected in the groove body of the first groove. The second servo motor is rotatably connected to the second U-shaped connecting joint.

[0011] Further, the front leg includes a second groove provided at one end of the rotating leg away from the first groove, and a third servo connected to the inside of the second groove. The output shaft of the third servo is connected to the rotating foot, and one end of the rotating foot close to the third servo is rotatably connected to the rotating leg through a rotating shaft.

[0012] Further, the rotating foot is provided with a hollow groove.

[0013] Further, the first limiting mechanism includes a rotating shaft connected to the lower surface of the fuselage. The rotating shaft is rotatably connected to the first U-shaped frame through a bearing, and a magnetic limiter is connected to one end of the rotating shaft away from the fuselage.

[0014] Further, the magnetic limiter includes an electromagnetic ring connected to the outer surface of one end of the rotating shaft away from the fuselage. A support cover is sleeved outside the electromagnetic ring. The support cover is connected to the outer surface of the first U-shaped frame. A metal ring is connected to the inside of the first U-shaped frame. The metal ring and the electromagnetic ring are in the same plane.

[0015] Further, a Hall element is connected to the outer surface of one end of the rotating shaft extending into the support cover. A magnet ring is sleeved outside the Hall element. The magnet ring is connected to the inner surface of the support cover.

[0016] Further, the rotating shaft is of a hollow structure, and the cavity of the rotating shaft is used for the wires of the Hall element and the electromagnetic ring to pass through.

[0017] Further, a controller is connected to the upper surface of the fuselage. The controller is electrically connected to the Hall element, the electromagnetic ring, the first servo and the second servo.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0019] First, through the three-section support leg structure and the setting of multiple servos in the present invention, the legs of the robot have high flexibility and can adapt to a variety of complex terrains and work tasks.

[0020] Second, by setting the first limiting mechanism, the second limiting mechanism and the third limiting mechanism, the movement ranges of the joints of the support legs are effectively limited, avoiding the instability or damage of the robot caused by excessive rotation of the leg joints, and improving the stability and reliability of the robot movement.

[0021] Third, through the cooperation of the magnetic limiter and the Hall element, the present invention not only realizes the precise limitation of the rotation angle of the leg joints, but also can monitor the rotation state of the leg joints in real time, providing accurate feedback information for the controller and facilitating the precise control of the movement of the robot.

[0022] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. Description of the Drawings

[0023] Figure 1 is a schematic structural diagram of the present invention;

[0024] Figure 2 is Figure 1 an enlarged view of the structure of area A in

[0025] Figure 3 is a schematic structural diagram of the front leg of the present invention;

[0026] Figure 4 is a schematic structural diagram of the rotating leg of the present invention;

[0027] Figure 5 is a schematic structural diagram of the magnetic limiter of the present invention.

[0028] In the figure: 10, fuselage; 11, controller; 20, support leg; 21, rear leg; 211, first U-shaped frame; 212, first servo; 213, first U-shaped connecting joint; 22, middle leg; 221, second U-shaped connecting joint; 222, rotating leg; 223, first groove; 224, second servo; 23, front leg; 231, second groove; 232, third servo; 233, rotating foot; 24, first limiting mechanism; 241, rotating shaft; 242, magnetic limiter; 2421, electromagnetic ring; 2422, support cover; 2423, metal ring; 2424, Hall element; 2425, magnet ring; 25, second limiting mechanism; 26, third limiting mechanism. Detailed Embodiments

[0029] To facilitate the understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant accompanying drawings. Several embodiments of the present invention are given in the drawings, but the present invention can be implemented in different forms and is not limited to the embodiments described in the text. On the contrary, these embodiments are provided to make the disclosure of the present invention more thorough and comprehensive.

[0030] It should be noted that when an element is referred to as "fixed on" another element, it can be directly on the other element or there can be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this invention belongs. The terms used in the specification of this invention are for the purpose of describing specific embodiments only and are not intended to limit the invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0032] An embodiment of this application provides a multi-legged robot. The schematic diagram of the multi-legged robot is as Figures 1-4 shown. The multi-legged robot includes a fuselage 10, and a plurality of support legs 20 are connected to the outside of the fuselage 10;

[0033] The support leg 20 includes a rear leg 21 connected to the fuselage 10, a middle leg 22 connected to the rear leg 21, and a front leg 23 connected to one end of the middle leg 22 away from the rear leg 21;

[0034] A first limiting mechanism 24 is connected between the rear leg 21 and the fuselage 10, a second limiting mechanism 25 is connected between the rear leg 21 and the middle leg 22, and a third limiting mechanism 26 is connected between the middle leg 22 and the front leg 23. The structures of the first limiting mechanism 24, the second limiting mechanism 25, and the third limiting mechanism 26 are the same.

[0035] It should be noted that in this embodiment, a plurality of three-section support legs 20 are connected to the outside of the fuselage 10. The rear leg 21 is connected to the fuselage 10 through the first limiting mechanism 24, the rear leg 21 is connected to the middle leg 22 through the second limiting mechanism 25, and the middle leg 22 is connected to the front leg 23 through the third limiting mechanism 26. When the robot moves, each limiting mechanism restricts the relative rotation range at the corresponding joint, ensuring that the leg movement is within a safe and controllable angle range. The above method guarantees the stability of the robot's leg movement, avoids the robot's posture imbalance or structural damage caused by excessive rotation of the leg joints, and improves the reliability of the robot in various complex movement scenarios.

[0036] Optionally, please refer to the appendix Figure 2 and 3 , the rear leg 21 includes a first U-shaped frame 211 connected to the upper surface of the fuselage 10, a first servo motor 212 connected to the upper surface of the first U-shaped frame 211, and a first U-shaped connecting joint 213 connected to the output shaft of the first servo motor 212. The bottom end of the first U-shaped connecting joint 213 is rotatably connected to the fuselage 10.

[0037] In this embodiment, the first servo 212 is installed on the first U-shaped frame 211, and its output shaft is connected to the first U-shaped connecting joint 213. When the first servo 212 is energized and operates, the output shaft drives the first U-shaped connecting joint 213 to rotate, and then the rear leg 21 swings around the connection point with the fuselage 10. The above structure provides the power for the active swing of the rear leg 21, enabling the robot to flexibly adjust the position and angle of the rear leg 21 to adapt to different movement requirements such as walking and turning, and enhancing the flexibility of the robot's movement.

[0038] Optionally, please refer to the appendix Figures 2-4 , the middle leg 22 includes a second U-shaped connecting joint 221 connected to the end of the first U-shaped connecting joint 213 away from the first servo 212. The end of the second U-shaped connecting joint 221 away from the first U-shaped connecting joint 213 is connected to the rotating leg 222. A first groove 223 is provided on the leg body of the rotating leg 222. A second servo 224 is connected inside the groove body of the first groove 223, and the second servo 224 is rotationally connected to the second U-shaped connecting joint 221.

[0039] In this embodiment, the second U-shaped connecting joint 221 connects the first U-shaped connecting joint 213 and the rotating leg 222. The second servo 224 is installed in the first groove 223 of the rotating leg 222 and is rotationally connected to the second U-shaped connecting joint 221. When the second servo 224 works, it drives the rotating leg 222 to rotate relative to the second U-shaped connecting joint 221, increasing the degree of freedom of movement of the support leg 20 in the middle part. The above structure further enriches the movement modes of the support leg 20, enabling the robot to more accurately adjust the leg posture when facing rough terrain or complex actions, and improving the robot's adaptability to complex environments.

[0040] Optionally, please refer to the appendix Figures 2-4 , the front leg 23 includes a second groove 231 provided at the end of the rotating leg 222 away from the first groove 223, and a third servo 232 connected inside the second groove 231. The output shaft of the third servo 232 is connected to the rotating foot 233. One end of the rotating foot 233 close to the third servo 232 is rotationally connected to the rotating leg 222 through a rotating shaft.

[0041] In this embodiment, the third servo 232 is installed in the second groove 231 of the rotating leg 222, and its output shaft is connected to the rotating foot 233. After the third servo 232 is started, it controls the rotating foot 233 to rotate relative to the rotating leg 222, enabling the robot's foot to flexibly adapt to different ground conditions.

[0042] Optionally, please refer to the appendix Figure 1 , the rotating foot 233 is provided with a hollow groove.

[0043] In this embodiment, the hollow groove on the rotating foot 233 reduces the weight of the rotating foot 233, reducing the inertia of the foot during the movement of the robot, while not affecting its mechanical properties of support and ground gripping.

[0044] Optionally, please refer to the attached Figure 2 and 5 , the first limiting mechanism 24 includes a rotating shaft 241 connected to the lower surface of the fuselage 10. The rotating shaft 241 is rotatably connected to the first U-shaped frame 211 through a bearing, and a magnetic limiter 242 is connected to the end of the rotating shaft 241 away from the fuselage 10.

[0045] In this embodiment, the rotating shaft 241 connects the fuselage 10 and the first U-shaped frame 211 and is relatively rotatable. The magnetic limiter 242 is installed at the end of the rotating shaft 241 away from the fuselage 10. When the rear leg 21 rotates relative to the fuselage 10, the electromagnetic ring 2421 in the magnetic limiter 242 interacts with the metal ring 2423 in the first U-shaped frame 211 to limit the rotation angle of the rotating shaft 241. The above structure precisely limits the rotation range of the rear leg 21 relative to the fuselage 10, effectively preventing the rear leg 21 from rotating excessively, providing a reliable limit guarantee for the movement of the rear leg 21, and improving the safety and stability of the leg movement of the robot.

[0046] Optionally, please refer to the attached Figure 2 and 5 , the magnetic limiter 242 includes an electromagnetic ring 2421 connected to the outer surface of the end of the rotating shaft 241 away from the fuselage 10. A support cover 2422 is sleeved outside the electromagnetic ring 2421. The support cover 2422 is connected to the outer surface of the first U-shaped frame 211. A metal ring 2423 is connected inside the first U-shaped frame 211, and the metal ring 2423 and the electromagnetic ring 2421 are in the same plane.

[0047] In this embodiment, after the electromagnetic ring 2421 is energized, it generates a magnetic field, interacts with the metal ring 2423 in the same plane, and generates a force that hinders the rotation of the first U-shaped frame 211 relative to the rotating shaft 241. The support cover 2422 plays a role of supporting and protecting the electromagnetic ring 2421. Through electromagnetic force, precise limit control is achieved. Compared with the traditional mechanical limit method, the limit strength and angle can be flexibly adjusted by adjusting the current magnitude, improving the accuracy and flexibility of the limit.

[0048] Optionally, please refer to the attached Figure 2 and 5 , a Hall element 2424 is connected to the outer surface of the end of the rotating shaft 241 extending into the support cover 2422. A magnet ring 2425 is sleeved outside the Hall element 2424, and the magnet ring 2425 is connected to the inner surface of the support cover 2422.

[0049] In this embodiment, when the first U-shaped frame 211 rotates, it drives the rotating shaft 241 to rotate, causing the relative positions of the Hall element 2424 and the magnet ring 2425 to change. The Hall element 2424 senses the magnetic field change and outputs a corresponding signal. The rotation angle of the rear leg 21 is monitored in real time to provide accurate feedback information to the controller 11, facilitating the controller 11 to adjust the energization state of the electromagnetic ring 2421 and the operation of each servo according to the actual situation, so as to achieve precise control of the leg movement of the robot.

[0050] Optionally, please refer to the appendix Figure 2 The rotating shaft 241 is a hollow structure, and the cavity of the rotating shaft 241 is used for the wires of the Hall element 2424 and the electromagnetic ring 2421 to pass through.

[0051] In this embodiment, the hollow structure of the rotating shaft 241 provides a wiring channel for the wires of the Hall element 2424 and the electromagnetic ring 2421, enabling the wires to safely pass through the rotating shaft 241 and avoiding wire entanglement and wear during the rotation of the rotating shaft 241.

[0052] Optionally, please refer to the appendix Figure 1 and 5 On the upper surface of the fuselage 10, a controller 11 is connected. The controller 11 is electrically connected to the Hall element 2424, the electromagnetic ring 2421, the first servo 212, and the second servo 224.

[0053] In this embodiment, the controller 11 receives the signal fed back by the Hall element 2424, analyzes the rotation angle information of the rear leg 21, and then controls the energization state and current magnitude of the electromagnetic ring 2421, while regulating the rotation angles and speeds of the first servo 212 and the second servo 224.

[0054] The specific operation mode of the present invention is as follows:

[0055] When the robot needs to move, the controller 11 controls the first servo 212, the second servo 224, and the third servo 232 to rotate according to a preset motion program or an external instruction, thereby driving the support leg 20 to move. During the movement of the support leg 20, the Hall element 2424 senses the magnetic field change in real time and feeds the signal back to the controller 11.

[0056] When the rotation angle of the support leg 20 approaches the preset limit angle, the controller 11 controls the electromagnetic ring 2421 to be energized. The electromagnetic ring 2421 and the metal ring 2423 generate a mutual force to limit the further rotation of the support leg 20, ensuring the stability and safety of the robot's movement. Specifically, when the robot is climbing a slope, the controller 11 controls the first servo 212 and the second servo 224 to adjust the angle of the support leg 20 so that the robot can maintain a stable posture. At the same time, the Hall element 2424 monitors the rotation angle of the support leg 20 in real time. When the angle approaches the limit, the electromagnetic ring 2421 is energized to prevent the support leg 20 from rotating excessively and causing the robot to lose balance.

[0057] The above description of the present invention with reference to the accompanying drawings is exemplary. Obviously, the specific implementation of the present invention is not limited by the above methods. As long as such non-substantial improvements are made using the method concept and technical solution of the present invention, or the concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. A multi-legged robot, comprising a fuselage (10), characterized in that, A plurality of support legs (20) are externally connected to the fuselage (10); The support leg (20) includes a rear leg (21) connected to the fuselage (10), a middle leg (22) connected to the rear leg (21), and a front leg (23) connected to one end of the middle leg (22) away from the rear leg (21); A first limiting mechanism (24) is connected between the rear leg (21) and the fuselage (10), a second limiting mechanism (25) is connected between the rear leg (21) and the middle leg (22), a third limiting mechanism (26) is connected between the middle leg (22) and the front leg (23), and the first limiting mechanism (24) has the same structure as the second limiting mechanism (25) and the third limiting mechanism (26).

2. The multi-legged robot according to claim 1, characterized in that, The rear leg (21) includes a first U-shaped frame (211) connected to the upper surface of the fuselage (10), a first servo (212) connected to the upper surface of the first U-shaped frame (211), and a first U-shaped connecting joint (213) connected to the output shaft of the first servo (212), and the bottom end of the first U-shaped connecting joint (213) is rotatably connected to the fuselage (10).

3. The multi-legged robot according to claim 1, characterized in that, The middle leg (22) includes a second U-shaped connecting joint (221) connected to one end of the first U-shaped connecting joint (213) away from the first servo (212), the end of the second U-shaped connecting joint (221) away from the first U-shaped connecting joint (213) is connected to a rotating leg (222), a first groove (223) is provided on the leg body of the rotating leg (222), a second servo (224) is connected in the groove body of the first groove (223), and the second servo (224) is rotatably connected to the second U-shaped connecting joint (221).

4. The multi-legged robot according to claim 1, wherein The front leg (23) includes a second groove (231) provided at one end of the rotating leg (222) away from the first groove (223), a third servo (232) connected inside the second groove (231), the output shaft of the third servo (232) is connected to a rotating foot (233), and one end of the rotating foot (233) close to the third servo (232) is rotatably connected to the rotating leg (222) through a rotating shaft.

5. The multi-legged robot according to claim 4, wherein, A hollow groove is provided on the rotating foot (233).

6. The multi-legged robot according to claim 1, wherein The first limiting mechanism (24) includes a rotating shaft (241) connected to the lower surface of the fuselage (10), the rotating shaft (241) is rotatably connected to the first U-shaped frame (211) through a bearing, and a magnetic limiter (242) is connected to one end of the rotating shaft (241) away from the fuselage (10).

7. The multi-legged robot according to claim 6, characterized in that, The magnetic limiter (242) includes an electromagnetic ring (2421) connected to the outer surface of one end of the rotating shaft (241) away from the fuselage (10), a support cover (2422) is sleeved outside the electromagnetic ring (2421), the support cover (2422) is connected to the outer surface of the first U-shaped frame (211), and a metal ring (2423) is connected inside the first U-shaped frame (211), and the metal ring (2423) and the electromagnetic ring (2421) are in the same plane.

8. The multi-legged robot according to claim 7, wherein One end of the rotating shaft (241) extending inside the support cover (2422) has a Hall element (2424) connected to its outer surface. A magnet ring (2425) is sleeved outside the Hall element (2424), and the magnet ring (2425) is connected to the inner surface of the support cover (2422).

9. The multi-legged robot according to claim 8, characterized in that, The rotating shaft (241) is of a hollow structure, and the cavity of the rotating shaft (241) is used for the wires of the Hall element (2424) and the electromagnetic ring (2421) to pass through.

10. The multi-legged robot according to claim 1, wherein A controller (11) is connected to the upper surface of the fuselage (10), and the controller (11) is electrically connected to the Hall element (2424), the electromagnetic ring (2421), the first servo (212), and the second servo (224).

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