Combined parallel biped walking robot easy to disassemble and assemble
By using an easily disassembled and modular structure, the parallel walking robot is broken down into small parts, which solves the problems of inconvenient transportation and difficult maintenance caused by welding connections, and achieves stable walking and high load-bearing capacity.
Patent Information
- Application Number
- CN202610083722.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-01-22
- Publication Date
- 2026-02-27
AI Technical Summary
The connections between the components of existing parallel walking robots are mostly welded, resulting in a large overall robot size, inconvenient transportation, and difficult maintenance.
The robot adopts an easy-to-disassemble modular structure, which is connected by bolts to disassemble the robot into multiple small parts, including a common platform, high feet, low feet and drive chain. The robot's walking function is realized by electric push rods and universal hinges.
This technology enables robots to save space and reduce costs during transportation, while also facilitating repair and maintenance, ensuring stable movement, and providing strong load-bearing capacity.
Smart Images
Figure CN121573090A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The application belongs to the technical field of robots, and particularly relates to an easily disassembled and combined structure design of a parallel mechanism-based biped walking robot for the fire-fighting field. BACKGROUND
[0002] With the development of science and technology, the application of fire-fighting robots is gradually extensive, and the fire-fighting robots mainly include series robots and parallel robots. The series robot is characterized in that: the connecting rods and the joints are sequentially connected in series, the movement of the end effector is realized by independent driving and superposition of each joint, and the movement of each connecting rod will affect the pose of the subsequent connecting rod, and typical representatives are industrial robot arms, robot dogs and robot donkeys. The parallel robot is characterized in that: the end effector is connected to the base through multiple independent connecting rod branches, all branches drive the end effector at the same time, and the movement of each branch is mutually constrained, and typical representatives are stewart platforms.
[0003] The advantages of the parallel robot over the series robot (such as the robot donkey) are: high overall rigidity, strong carrying capacity, high movement stability, and not easy to fall down when there is interference in the environment. Therefore, it is suitable for performing rescue, transporting materials and other tasks in fire scenes, nuclear accident areas, virus infection areas and other scenes.
[0004] However, although the parallel robot has theoretical advantages, there are still some problems in its specific structural design, for example: the connection between each part of the existing parallel walking robot is mostly welding, which leads to the following problems: first, the overall volume of the robot is large, the space occupied during transportation is large, transportation is inconvenient and the cost is high. Second, some parts cannot be disassembled and replaced during maintenance, which makes the maintenance of the robot difficult or even impossible.
[0005] Therefore, the structural design of the parallel walking robot still needs to be greatly improved. SUMMARY
[0006] The technical problem to be solved by the application is to provide an easily disassembled and combined parallel biped walking robot, which can be disassembled into multiple small-volume parts or components when the robot is in a transportation state, a maintenance state or a storage state, thereby saving space and facilitating maintenance. When the robot reaches the work site, multiple parts can be quickly combined into a complete robot.
[0007] An easily disassembled and combined parallel biped walking robot, comprising a common platform, a high foot, a low foot and a drive chain, the high foot and the low foot are both connected to the common platform through the drive chain; The common platform is a regular hexagonal frame structure, comprising 6 trapezoidal strips and 6 connecting pieces; The high foot comprises one high foot connecting piece and three machine toes connected thereto; The low foot comprises one low foot connector and three machine toes connected thereto; The mounting position of the high foot connector is higher than that of the low foot connector, and the three machine toes of the high foot and the three machine toes of the low foot are arranged in a triangular shape by crossing each other. The drive chain is provided with 12, each drive chain comprising one electric push rod and two universal hinges, two universal hinges are respectively arranged at both ends of the electric push rod, one end is connected with the common platform, and the other end is connected with the machine toe.
[0008] The machine toe comprises a bottom plate and a vertical plate, the bottom plate is provided with two through holes for bolt connection with the universal hinge; the vertical plate is provided with a group of through holes distributed in a straight line for bolt connection with the high foot connector or the low foot connector.
[0009] The electric push rod comprises a shell and a telescopic rod, the shell is a hollow cuboid structure, a group of thread holes uniformly distributed along the circumference are arranged on the top end face for bolt connection with the common platform end universal hinge; the telescopic rod is a cylindrical long rod, a part of which is arranged inside the shell, and the long rod end is provided with a disc with a through hole for bolt connection with the machine toe end universal hinge; the electric push rod makes the telescopic rod extend or retract relative to the shell under the control of the control system, so that the overall length of the electric push rod is elongated or shortened, and a linear motion is output.
[0010] The trapezoidal strip is an isosceles trapezoid, and the included angle between the two sides and the base of the trapezoid is 60 degrees; each trapezoidal strip has a group of through holes distributed in a straight line near the two sides, which are used for bolt connection with one connecting block; each trapezoidal strip has two groups of through holes uniformly distributed along the circumference in the middle, which are used for bolt connection with one universal hinge.
[0011] The high foot connector comprises one high foot center plate and three high foot connecting rods, the high foot center plate is provided with three groups of through holes, each group of through holes is used for bolt connection with the high foot connecting rod; one end of the high foot connecting rod is connected with the high foot center plate, and the other end is connected with the machine toe.
[0012] The low foot connector comprises one low foot center plate and three low foot connecting rods, the low foot center plate is provided with three groups of through holes, each group of through holes is used for bolt connection with the low foot connecting rod; one end of the low foot connecting rod is connected with the low foot center plate, and the other end is connected with the machine toe.
[0013] The universal hinge comprises one cross shaft and two U-shaped seats, the bottom surface of each U-shaped seat is provided with a group of through holes uniformly distributed along the circumference, which are used for bolt connection with the machine toe, the telescopic rod, the trapezoidal strip or the shell.
[0014] The driving chain converts electric energy into mechanical energy, and under the action of a control signal, the length of the electric push rod is controlled, the length change of the electric push rod is transmitted to the high foot or the low foot, and the biped alternate walking is carried out.
[0015] The movement law of the high foot and the low foot is: The high foot is one of the feet of the robot; When the high foot is in contact with the ground, the three robot toes connected by the high foot connecting piece are in contact with the ground at the same time; When the high foot is separated from the ground, the three robot toes connected by the high foot connecting piece are suspended in the air at the same time, and the low foot is in contact with the ground; The low foot is the other foot of the biped robot; When the low foot is in contact with the ground, the three robot toes connected by the low foot connecting piece are in contact with the ground at the same time; When the low foot is separated from the ground, the three robot toes connected by the low foot connecting piece are suspended in the air at the same time, and the high foot is in contact with the ground.
[0016] Through the above design scheme, the present application can bring the following beneficial effects: the easy-to-disassemble and easy-to-assemble parallel robot is convenient for maintenance and transportation, stable in walking, and high in carrying capacity. Specifically as follows: Maintenance convenience is explained as follows: When the common platform needs to be maintained or replaced, only the bolt connection is unscrewed by using a wrench, and the common platform is disassembled into six trapezoidal strips and six connecting blocks, so that the common platform can be separated from the robot body, and each part can be individually maintained or replaced. Compared with the welded structure, the overall structure of the robot does not need to worry about the narrow maintenance space; When the driving chain needs to be maintained or replaced, only the bolt connection is unscrewed by using a wrench, and the driving chain is disassembled into one electric push rod and two universal hinges, so that the driving chain can be separated from the robot body, and each part can be individually maintained or replaced. Compared with the welded structure, the overall structure of the robot does not need to worry about the narrow maintenance space; When the high foot needs to be maintained or replaced, only the bolt connection is unscrewed by using a wrench, and the high foot is disassembled into one high foot center plate, three high foot connecting rods and three robot toes, so that the high foot can be separated from the robot body, and each part can be individually maintained or replaced. Compared with the welded structure, the overall structure of the robot does not need to worry about the narrow maintenance space; When the low foot needs to be maintained or replaced, only the bolt connection is unscrewed by using a wrench, and the low foot is disassembled into one low foot center plate, three low foot connecting rods and three robot toes, so that the low foot can be separated from the robot body, and each part can be individually maintained or replaced. Compared with the welded structure, the overall structure of the robot does not need to worry about the narrow maintenance space; Transportability description: if the robot adopts a welded structure, the overall volume of the robot is large, which occupies a larger space during transportation, causing high transportation cost, and the jolt and bump during transportation can easily cause a large impact force between the internal parts of the robot, which can easily cause damage; the easy-to-disassemble structure of the present design can disassemble the entire robot into the following parts during transportation: 6 trapezoidal strips, 6 connecting blocks, 12 electric push rods, 24 universal hinges, 1 high-foot center plate, 3 high-foot connecting rods, 1 low-foot center plate, 3 low-foot connecting rods, and 6 robot toes. Compared with the overall structure of the robot, the volume of each part is very small, and during transportation, each part can be individually packaged with foam and then placed closely, which not only reduces the overall volume, reduces the transportation space, and reduces the fixing difficulty, but also avoids the jolt and bump between the parts during transportation.
[0017] Stability description: for example: when the low foot is suspended above the ground, i.e. the three robot toes of the low foot are simultaneously suspended above the ground, at this time the high foot is in contact with the ground, i.e. the three robot toes of the high foot are simultaneously in contact with the ground at this time, and since the three robot toes of the high foot are distributed in a regular triangle, the regular triangle has stability, and therefore the robot at this time has stability; similarly, when the high foot is suspended above the ground, i.e. the three robot toes of the high foot are simultaneously suspended above the ground, at this time the low foot is in contact with the ground, i.e. the three robot toes of the low foot are simultaneously in contact with the ground at this time, and since the three robot toes of the low foot are distributed in a regular triangle, the regular triangle has stability, and therefore the robot at this time has stability. Since at least one machine foot (high foot or low foot) is in contact with the ground at all times, at least one regular triangle structure is in contact with the ground at all times to support the robot body, so that the robot is not prone to falling over; Load-bearing capacity description: for example, at a certain moment, the low foot is suspended above the ground, i.e. the three robot toes of the low foot are simultaneously suspended above the ground, at this time the high foot is in contact with the ground, i.e. the three robot toes of the high foot are simultaneously in contact with the ground at this time, and the goods are placed on the public platform, two electric push rods are connected to each robot toe, and six electric push rods are connected to the three robot toes. Therefore, the total weight of the robot and the goods at this time is supported by the six electric push rods, and if a traditional form of robot such as a robot dog or a robot donkey is used, the total weight of the robot and the goods at this time should be supported by four legs, i.e. four electric push rods. Therefore, the parallel form robot designed by the present application adopts a larger number of electric push rods, assuming that the electric push rods used by the present robot and the electric push rods used by the traditional form of robot have the same load-bearing capacity, then the structure in the form of parallel can realize greater load-bearing capacity by virtue of the number advantage of the electric push rods, i.e. 6 to 4. BRIEF DESCRIPTION OF DRAWINGS
[0018] The present application will be further described in conjunction with the drawings and specific embodiments: Figure 1 The application is a general structure diagram of the easily disassembled and combined parallel double-foot walking robot.
[0019] Figure 2 The application is an electric push rod structure diagram of the easily disassembled and combined parallel double-foot walking robot.
[0020] Figure 3 The application is a common platform structure diagram of the easily disassembled and combined parallel double-foot walking robot.
[0021] Figure 4 The application is a ladder strip structure diagram of the easily disassembled and combined parallel double-foot walking robot.
[0022] Figure 5 The application is a connecting block structure diagram of the easily disassembled and combined parallel double-foot walking robot.
[0023] Figure 6 The application is a machine toe structure diagram of the easily disassembled and combined parallel double-foot walking robot.
[0024] Figure 7 The application is a high foot connecting piece structure diagram of the easily disassembled and combined parallel double-foot walking robot.
[0025] Figure 8 The application is a high foot center plate structure diagram of the easily disassembled and combined parallel double-foot walking robot.
[0026] Figure 9 The application is a high foot connecting rod structure diagram of the easily disassembled and combined parallel double-foot walking robot.
[0027] Figure 10 The application is a low foot connecting piece structure diagram of the easily disassembled and combined parallel double-foot walking robot.
[0028] Figure 11 The application is a low foot connecting plate structure diagram of the easily disassembled and combined parallel double-foot walking robot.
[0029] Figure 12 The application is a low foot connecting rod structure diagram of the easily disassembled and combined parallel double-foot walking robot.
[0030] Figure 13 The application is a universal hinge structure diagram of the easily disassembled and combined parallel double-foot walking robot.
[0031] Figure 14 The application is a cross shaft structure diagram of the easily disassembled and combined parallel double-foot walking robot.
[0032] Figure 15 A schematic view of a U-shaped seat structure of an easy-to-assemble and disassemble combined parallel biped walking robot.
[0033] Figure 16 A schematic view of a high-leg structure of an easy-to-assemble and disassemble combined parallel biped walking robot.
[0034] Figure 17 A schematic view of a low-leg structure of an easy-to-assemble and disassemble combined parallel biped walking robot.
[0035] Figure 18 A schematic view of a drive chain structure of an easy-to-assemble and disassemble combined parallel biped walking robot.
[0036] Figure 19 A schematic view of all drive chain structures of an easy-to-assemble and disassemble combined parallel biped walking robot.
[0037] Figure 20 A schematic view of the position of a trapezoidal strip in the assembly process of an easy-to-assemble and disassemble combined parallel biped walking robot.
[0038] Figure 21 A schematic view of the position of a connecting block in the assembly process of an easy-to-assemble and disassemble combined parallel biped walking robot.
[0039] Figure 22 A schematic view of the assembly of a high-leg and a drive chain in the assembly process of an easy-to-assemble and disassemble combined parallel biped walking robot.
[0040] Figure 23 A schematic view of the assembly of a low-leg and a drive chain in the assembly process of an easy-to-assemble and disassemble combined parallel biped walking robot.
[0041] Figure 24 A schematic view of the intersection of a high-leg and a low-leg in the assembly process of an easy-to-assemble and disassemble combined parallel biped walking robot.
[0042] Figure 25 A top view of the relative position of a common platform and a robot toe of an easy-to-assemble and disassemble combined parallel biped walking robot.
[0043] Figure 26 A bottom view of the connection relationship between all drive chains and a common platform of an easy-to-assemble and disassemble combined parallel biped walking robot.
[0044] In the diagram, 1-electric push rod, 1-1-outer shell, 1-2-telescopic rod, 2-common platform, 2-1-trapezoidal strip, 2-2-connecting block, 3-machine toe, 3-1-base plate, 3-2-vertical plate, 4-high foot connector, 4-1 high foot center plate, 4-2 high foot connecting rod, 5-low foot connector, 5-1 low foot center plate, 5-2 low foot connecting rod, 6-universal hinge, 6-1-cross shaft, 6-2-U-shaped seat, 7-high foot, 8-low foot, 9-drive chain. Detailed Implementation
[0045] A type of easily detachable and modular parallel bipedal walking robot, such as Figures 1-26 As shown, from the perspective of basic components, it is composed of 6 basic components connected by bolts, including: 12 identical electric actuators 1, 1 common platform 2, 6 identical machine toes 6, 1 high-leg connector 4, 1 low-leg connector 5, and 24 identical universal hinges 6.
[0046] From a functional perspective, it consists of four functional units connected by bolts. These four functional units are: one high foot 7, one low foot 8, twelve identical drive chains 9, and one common platform 2.
[0047] The electric actuator 1 is a non-detachable component. Its basic structure consists of a housing 1-1 and a telescopic rod 1-2. Under the control of the control system, the telescopic rod 1-2 moves linearly relative to the housing 1-1, changing the length of the electric actuator 1. The top end face of the housing 1-1, which is also the top end face of the electric actuator 1, has a set of threaded holes. The end of the telescopic rod 1-2, which is also the end of the electric actuator 1, has a disc with a set of through holes.
[0048] The common platform 2 is an easily detachable component, generally shaped like a regular hexagonal plate. It consists of six trapezoidal strips 2-1 and six connecting blocks 2-2. Each trapezoidal strip 2-1 and connecting block 2-2 has corresponding through holes. The six trapezoidal strips 2-1 can be assembled to form a regular hexagon, creating six seams. Each connecting block 2-2 covers one seam, and the corresponding through holes are aligned. The trapezoidal strips 2-1 are connected by passing bolts through the aligned through holes and tightening nuts. The common platform 2 serves two functions: first, to maintain a horizontal position when the robot moves, and second, to carry materials; and third, to act as the overall framework of the robot, meaning that all other components of the robot are directly or indirectly connected to the common platform.
[0049] The robotic toe 3 is a non-detachable component, mainly composed of a base plate 3-1 and a vertical plate 3-2. The base plate 3-1 has two sets of through holes, each used to connect to a universal hinge 6 via bolts. The vertical plate 3-2 has one set of through holes, used to connect to either a high-leg connector 4 or a low-leg connector 5 via bolts. The robotic toe 3 is the component in the robot that directly contacts the ground.
[0050] High foot connecting piece 4, as an easily disassembled component, is composed of one high foot center plate 4-1 and three identical high foot connecting rods 4-2 by bolt connection. Three groups of through holes are processed on the high foot center plate 4-1, each group of through holes is used for bolt connection with one high foot connecting rod 4-2. Each high foot connecting rod 4-2 is formed by bending a square hollow straight pipe at two places, forming horizontal edge, inclined edge and vertical edge three parts, one group of through holes are processed on the horizontal edge, used for bolt connection with the high foot center plate 4-1, one group of through holes are processed on the vertical edge, used for bolt connection with one machine toe 3. When the high foot connecting piece 4 is assembled, the high foot center plate 4-1 is located at the center position, three high foot connecting rods 4-2 are uniformly distributed along the circumference, the included angle between any two rods is 120 degrees, then one group of through holes on the horizontal edge of the three high foot connecting rods 4-2 are respectively aligned with one group of through holes on the high foot center plate 4-1, the bolts are passed through and the nuts are tightened.
[0051] Low foot connecting piece 5, as an easily disassembled component, is composed of one low foot center plate 5-1 and three identical low foot connecting rods 5-2 by bolt connection. Three groups of through holes are processed on the low foot center plate 5-1, each group of through holes is used for bolt connection with one low foot connecting rod 5-2. Each low foot connecting rod 5-2 is formed by bending a square hollow straight pipe at two places, forming horizontal edge, inclined edge and vertical edge three parts, one group of through holes are processed on the horizontal edge, used for bolt connection with the low foot center plate 5-1, one group of through holes are processed on the vertical edge, used for bolt connection with one machine toe 3. When the low foot connecting piece 5-1 is assembled, the low foot center plate is located at the center position, three low foot connecting rods 5-2 are uniformly distributed along the circumference, the included angle between any two rods is 120 degrees, then one group of through holes on the horizontal edge of the three low foot connecting rods 5-2 are respectively aligned with one group of through holes on the low foot center plate 5-1, the bolts are passed through and the nuts are tightened.
[0052] Universal hinge 6 is a cross shaft type universal hinge, which is a non-disassembled component. Each universal hinge 6 is composed of a central cross shaft 6-1 and two identical U-shaped seats 6-2 on both sides. A group of through holes are processed on the bottom surface of each U-shaped seat, used for bolt connection with other components.
[0053] High foot 7 is an easily disassembled functional unit composed of high foot connecting piece 4 and any three machine toes 3 by a specific way. The assembly method is as follows: first, assemble the high foot connecting piece 4 and make the high foot center plate 4-1 at the center position, then align one group of through holes on the vertical edge of each high foot connecting rod 4-2 with one group of through holes on the vertical plate 3-2 of one machine toe 3, then pass through the bolts and tighten the nuts.
[0054] The function of the high foot 7 is to serve as one of the two feet of the robot. During work, the high foot connector 4 and the three robot toes 3 move as a whole. When the high foot 7 contacts the ground, the three robot toes 3 contained in the high foot 7 actually contact the ground at the same time. When the high foot 7 is suspended in the air, the three robot toes 3 contained in the high foot 7 are actually suspended in the air at the same time.
[0055] The low foot 8 is a detachable functional unit composed of the low foot connector 5 and any three robot toes 3 in a specific way. The assembly method is as follows: first, assemble the low foot connector 5 and make the low foot center plate 5-1 in the center position, then align a group of through holes on the vertical edge of each low foot connecting rod 5-2 with a group of through holes on the vertical plate 3-2 of one robot toe 3, then pass through the bolt and tighten the nut.
[0056] The function of the low foot 8 is to serve as the other foot of the robot. During work, the low foot connector 5 and the three robot toes 3 move as a whole. When the low foot 8 contacts the ground, the three robot toes 3 contained in the low foot 8 actually contact the ground at the same time. When the low foot 8 is suspended in the air, the three robot toes 3 contained in the low foot 8 are actually suspended in the air at the same time.
[0057] The drive chain 9 is a functional unit composed of one electric push rod 1 and two universal hinges 6. The connection method is as follows: align a group of threaded holes at the top end of the electric push rod 1 shell 1-1 with a group of through holes in a U-shaped seat 6-2 of one universal hinge 6, then pass through the bolt and tighten, realize the connection of the top end of the electric push rod 1 with one universal hinge 6; align a group of through holes on the end disc of the telescopic rod 1-2 of the electric push rod 1 with a group of through holes in a U-shaped seat 6-2 of another universal hinge 6, then pass through the bolt and tighten the nut, realize the connection of the end of the electric push rod 1 with one universal hinge 6.
[0058] The total number of electric push rods 1 and universal hinges 6 in the present application is 12 and 24 respectively, and the total number of drive chains 9 is 12. The function of each drive chain is to convert electric energy into mechanical energy, and under the action of the control signal, accurately control the length change of the electric push rod 1, and then transmit the length change to the biped through the universal hinge 6 to realize the walking function.
[0059] The assembly process of the present application is as follows: The first step of assembling the robot is the assembly of the common platform 2. The overall structure diagram of the common platform 2 is shown in Figure 3 , which is a combination composed of six trapezoidal strips 2-1 (see Figure 4 ) and six connecting blocks 2-2 (see Figure 5 ) through detachable connection. The specific assembly process is as follows: Firstly, 6 trapezoidal strips 2-1 are placed in a circle, and the side of each trapezoidal strip 2-1 is aligned with the side of the adjacent trapezoidal strip 2-1, forming a regular hexagon and generating 6 seams (see Figure 20 ). Then, 6 connecting blocks 2-2 are placed right above the 6 seams respectively, with the sharp corners facing the outside of the hexagon, so that the two groups of through holes (see Figure 5 ) on each connecting block 2-2 are aligned with a group of through holes near the side of each trapezoidal strip 2-1 respectively (see Figure 21 ). Finally, the corresponding bolts are inserted through the aligned through holes and the nuts are tightened, so that the lower surface of the connecting block 2-2 is tightly attached to the upper surface of the trapezoidal strip 2-1, realizing the assembly of the common platform 2 (see Figure 3 ).
[0060] The second step of assembling the robot is the assembly of the electric push rod 1 and the universal hinge 6, i.e. the assembly of the drive chain 9. The specific process is as follows: Take an electric push rod 1 (see Figure 2 ) and a universal hinge 6 (see Figure 13 ), align the 4 threaded holes on the top end face of the electric push rod 1 housing (1-1) with the 4 through holes on the bottom surface of a U-shaped seat 6-2 (see Figure 15 ) of the universal hinge 6, insert the bolts and tighten them, realizing the connection between the upper end of the electric push rod 1 and the universal hinge 6 (see Figure 18 ); for the same electric push rod 1, take another universal hinge 6 (see Figure 13 ), align a group of through holes (see Figure 2 ) on the end disc of the telescopic rod 1-2 of the electric push rod 1 with the 4 through holes (see Figure 15 ) on the bottom surface of a U-shaped seat 6-2 of the universal hinge 6, insert the bolts and tighten the nuts, realizing the connection between the end of the electric push rod 1 and the universal hinge 6 (see Figure 18 ).
[0061] The above steps complete the assembly of one electric push rod 1 and 2 universal hinges 6, which is the drive chain 9 as shown in Figure 18 .
[0062] For the remaining 11 electric push rods 1, 2 universal hinges 6 are connected to the top end and the end of each electric push rod 1 respectively according to the above steps, totaling 12 drive chains 9 as shown in Figure 19 .
[0063] The third step of assembling the robot is the assembly of the high foot connecting piece 4.
[0064] The structure of the high foot connecting piece 4 is shown in Figure 7 , which consists of a high foot center plate 4-1 (seeFigure 8 ) and 3 high foot connecting rods 4-2 (see Figure 9 ) constitute; The overall structure of the high foot center plate 4-1 is composed of two upper and lower clamping plates, each clamping plate is shaped as an equilateral triangle, but three vertices are cut off respectively, and each vertex has a group of through holes (as shown in Figure 8 ) respectively, which are bolted with 3 high foot connecting rods 4-2; The shape of each high foot connecting rod 4-2 is as shown in Figure 9 , which is a hollow straight rod with a square cross section formed by two bending, so the high foot connecting rod 4-2 can be divided into horizontal edge, oblique edge, and vertical edge, wherein the horizontal edge and the vertical edge have a group of through holes respectively. The through holes on the horizontal edge are used for bolted connection with the high foot center plate 4-1, and the through holes on the vertical edge are used for bolted connection with the machine toe 3; The specific assembly process of the high foot connecting piece 4 is as follows: first, place the three high foot connecting rods 4-2 between the upper and lower clamping plates of the high foot center plate 4-1, and align the through holes (see Figure 9 ) on the horizontal edge of the three high foot connecting rods 4-2 with the three groups of through holes (see Figure 8 ) on the high foot center plate 4-1 respectively, then pass through the bolts and tighten the nuts, realize the fixed connection of the four parts, complete the assembly of the high foot connecting piece 4 (see Figure 7 ).
[0065] The fourth step of assembling the robot: the assembly of the high foot 7.
[0066] The high foot 7 of the robot is composed of a high foot connecting piece 4 (see Figure 7 ) and 3 identical machine toes 3 (see Figure 6 ). The specific assembly process is as follows: Take 3 machine toes 3, align a group of through holes (see Figure 6 ) on the vertical plate 3-2 of each machine toe 3 with a group of through holes (see Figure 9 ) on the vertical edge of the three high foot connecting rods 4-2 of the high foot connecting piece 4 respectively, then pass through the bolts and tighten the nuts, realize the assembly of the high foot connecting piece 4 and the 3 machine toes 3, that is, complete the assembly of the high foot 7, as shown in Figure 16 .
[0067] The fifth step of assembling the robot: the assembly of the low foot connecting piece 5; The structure of the low foot connecting piece 5 is as shown in Figure 10 , which is composed of a low foot center plate 5-1 (see Figure 11 ) and 3 low foot connecting rods 5-2 (see Figure 12) is composed of two clamps, each of which is shaped like an equilateral triangle, but three vertices are cut off, and each vertex has a group of through holes (as shown in Figure 11 ) for bolt connection with three low-foot connecting rods 5-2.
[0068] The shape of each low-foot connecting rod 5-2 is shown in Figure 12 , which is a hollow straight rod with a square cross-section and is formed by twice bending. Therefore, the low-foot connecting rod 5-2 can be divided into horizontal, diagonal, and vertical edges, and each of the horizontal and vertical edges has a group of through holes. The through holes on the horizontal edge are used for bolt connection with the low-foot center plate 5-1, and the through holes on the vertical edge are used for bolt connection with the machine toes 3.
[0069] The specific assembly process of the low-foot connecting piece 5 is as follows: first, place the three low-foot connecting rods 5-2 between the upper and lower clamps of the low-foot center plate 5-1, and align the through holes (see Figure 12 ) on the horizontal edges of the three low-foot connecting rods 5-2 with the three groups of through holes on the low-foot center plate 5-1, then pass through the bolts and tighten the nuts to achieve the fixed connection of the four parts, and complete the assembly of the low-foot connecting piece 5 (see Figure 10 ).
[0070] The sixth step of assembling the robot is the assembly of the low foot 8. The low foot 8 of the robot is composed of a low-foot connecting piece 5 (see Figure 10 ) and three identical machine toes 3 (see Figure 6 ). The specific assembly process is as follows: Take the remaining three machine toes 3, and align the group of through holes (see Figure 6 ) on the vertical plate 3-2 of each machine toe 3 with the group of through holes (see Figure 12 ) on the vertical edges of the three low-foot connecting rods 5-2 of the low-foot connecting piece 5, then pass through the bolts and tighten the nuts to achieve the assembly of the low-foot connecting piece 5 and the three machine toes 3, i.e., the assembly of the low foot 8 is completed, as shown in Figure 17 .
[0071] The seventh step of assembling the robot is the assembly of the drive chain 9 and the high foot 7. A drive chain 9 is composed of an electric push rod 1 (see Figure 2 ) connected with a universal hinge 6 (see Figure 13 ) at its top end and end, respectively. The structure of a single drive chain 9 is shown in Figure 18 .
[0072] Connect the six drive chains 9 to the high foot 7, more specifically, connect the six drive chains 9 to the three machine toes 3 contained in the high foot 7. The specific connection process is as follows: Take one drive chain 9 (see Figure 18 ), align the set of holes in the free U-shaped seat 6-2 (see Figure 18 ) at the end of the drive chain 9 with the set of holes in the bottom plate 3-1 (see Figure 16 ) of any one of the machine toes 3 on the high foot 7 (see Figure 6 ), pass the bolt through and tighten the nut, and the connection of one drive chain 9 to the high foot 7 is achieved; Note that there are two sets of holes in the bottom plate 3-1 (see Figure 6 ) of each machine toe 3, so the bottom plate 3-1 of each machine toe 3 needs to be connected to two drive chains 9, and the high foot 7 contains three machine toes 3, so the high foot 7 needs to be connected to a total of six drive chains 9; In the same way, take another five drive chains 9, and align the set of holes in the free U-shaped seat 6-2 (see Figure 13 ) of the universal joint 6 (see Figure 18 ) at the end of each of the five drive chains 9 with the set of holes in the bottom plate 3-1 (see Figure 6 ) of the remaining three machine toes 3, pass the bolt through and tighten the nut, and the connection of the six drive chains 9 to the high foot 7 is achieved, see Figure 22 .
[0073] The eighth step in the assembly of the robot: the assembly of the drive chains 9 and the low foot 8; The task of this step is to connect the remaining six drive chains 9 to the low foot 8, more specifically, to the three machine toes 3 contained in the low foot 8.
[0074] The specific connection process is as follows: take one drive chain 9 (see Figure 18 ), align the set of holes in the free U-shaped seat 6-2 (see Figure 18 ) at the end of the drive chain 9 with the set of holes in the bottom plate 3-1 (see Figure 17 ) of any one of the machine toes 3 on the low foot 8 (see Figure 6 ), pass the bolt through and tighten the nut, and the connection of one drive chain 9 to the low foot 8 is achieved; note that there are two sets of holes in the bottom plate 3-1 (see Figure 6 ) of each machine toe 3, so the bottom plate 3-1 of each machine toe 3 needs to be connected to two drive chains 9, and the low foot 8 contains three machine toes 3, so the low foot 8 needs to be connected to a total of six drive chains 9; in the same way, take another five drive chains 9, and align the set of holes in the free U-shaped seat 6-2 (see Figure 13 ) of the universal joint 6 (see Figure 18 ) at the end of each of the five drive chains 9 with the set of holes in the bottom plate 3-1 (see Figure 6 ) of the remaining three machine toes 3, pass the bolt through and tighten the nut, and the connection of the six drive chains 9 to the low foot 8 is achieved, seeFigure 23 .
[0075] The ninth step of assembling the robot: the cross arrangement of the high foot 7 and the low foot 8; The task of this step is to achieve the cross arrangement of the three robot toes 3 contained in the high foot 7 and the three robot toes 3 contained in the low foot 8 as claimed in claim 2; That is, for any one robot toe 3 belonging to the high foot 7, its two adjacent robot toes 3 must belong to the low foot 8; for any one robot toe 3 belonging to the low foot 8, its two adjacent robot toes 3 must belong to the high foot 7, as shown in Figure 24 The specific arrangement process is as follows: First, make the three robot toes 3 of the low foot 8, which has been connected with the six drive chains 9, respectively contact the ground, and then fix the low foot 8; Second, make the high foot 7, which has been connected with the six drive chains 9, as a whole, be located directly above the low foot 8, and from the air, it is found that any one of the three robot toes 3 connected with the high foot 7 is just located in the middle of the two adjacent robot toes 3 of the low foot 8, then slowly lower the high foot 7 until the three robot toes 3 connected with the high foot 7 all contact the ground. The cross arrangement of the robot biped is achieved. As shown in Figure 24 .
[0076] The tenth step of assembling the robot: the connection of the common platform 2 and the drive chain 9; After the cross arrangement of the high foot 7 and the low foot 8 of the robot is completed, it is noticed that the top of the 12 drive chains 9 still has 12 empty U-shaped seats 6-2 of the universal hinge 6 (see Figure 24 ), and each U-shaped seat 6-2 has a set of through holes, and it is also noticed that the middle of each trapezoidal strip 2-1 (see Figure 3 ) on the common platform 2 has two sets of through holes. Therefore, it is necessary to connect the 12 universal hinges 6 above the 12 drive chains 9 to the common platform 2, and the specific connection process is as follows: First, place the common platform 2 directly above the cross-arranged biped (see Figure 24 ) and look down from the air, so that each connecting block 2-2 (see Figure 5 ) on the common platform 2 is just located directly above a robot toe 3, as shown in Figure 25 ; Then, select a robot toe 3, and make the through holes of the empty U-shaped seat 6-2 of the universal hinge 6 at the top of the two drive chains 9 connected with the robot toe 3 respectively align with the two sets of through holes on the two trapezoidal strips 2-1 closest to the two sides of the connecting block 2-2 directly above the robot toe 3, and it is noticed that the two sets of through holes are located on two different trapezoidal strips 2-1 (see Figure 25 and Figure 26) and then the bolt is passed through the through hole and the nut is tightened, realizing the connection of the two driving chains 9 with the common platform 2; The same operation is performed on the driving chains 9 connected with the remaining five machine toes 3, realizing the connection of all the driving chains 9 with the common platform 2; For the convenience of observing the connection relationship of all the driving chains 9 with the common platform 2, the top view perspective is taken, as shown in Figure 26 Through the above 10 steps, the overall assembly of the robot is completed, and the overall structure diagram of the robot is shown in Figure 1 .
Claims
1. A modular, easily detachable, parallel bipedal walking robot, characterized in that: It includes a public platform (2), a high foot (7), a low foot (8) and a drive chain (9), wherein the high foot (7) and the low foot (8) are both connected to the public platform (2) via the drive chain (9); The public platform (2) is a regular hexagonal frame structure, including 6 trapezoidal strips (2-1) and 6 connectors (2-2). The high foot (7) includes a high foot connector (4) and three machine toes (3) connected thereto; The low foot (8) includes a low foot connector (5) and three machine toes (3) connected thereto. The installation position of the high foot connector (4) is higher than that of the low foot connector (5). The three machine toes (3) of the high foot (7) and the three machine toes (3) of the low foot (8) are arranged in a triangular pattern. The drive chain (9) is provided with 12, each drive chain (9) includes 1 electric push rod (1) and 2 universal hinges (6). The two universal hinges (6) are respectively set at both ends of the electric push rod (1), one end is connected to the common platform (2) and the other end is connected to the machine toe (3).
2. The easily detachable and modular parallel bipedal walking robot according to claim 1, characterized in that: The machine toe (3) includes a base plate (3-1) and a vertical plate (3-2). The base plate (3-1) has two through holes for bolting to a universal hinge (6). The vertical plate (3-2) has a set of through holes distributed along a straight line for bolting to a high foot connector (4) or a low foot connector (5).
3. The easily detachable and modular parallel bipedal walking robot according to claim 1, characterized in that: The electric push rod (1) includes a housing (1-1) and a telescopic rod (1-2). The housing (1-1) is a hollow cuboid structure with a set of threaded holes evenly distributed around the circumference on the top end face for bolt connection with the universal hinge (6) at the end of the common platform (2). The telescopic rod (1-2) is a cylindrical long rod with a portion inside the housing (1-1). The end of the long rod has a disc with a through hole for bolt connection with the universal hinge (6) at the end of the machine toe (3). Under the control of the control system, the electric push rod (1) extends or retracts the telescopic rod (1-2) relative to the housing (1-1), thereby lengthening or shortening the overall length of the electric push rod (1) and outputting linear motion.
4. The easily detachable and modular parallel bipedal walking robot according to claim 1, characterized in that: The trapezoidal strip (2-1) is an isosceles trapezoid with the angle between the two sides and the base being 60 degrees. Each trapezoidal strip (2-1) has a set of through holes distributed along a straight line near each side for bolting to a connecting block (2-2). Each trapezoidal strip (2-1) has two sets of through holes evenly distributed along the circumference in the middle for bolting to a universal hinge (6).
5. The easily detachable and modular parallel bipedal walking robot according to claim 1, characterized in that: The high-leg connector (4) includes a high-leg center plate (4-1) and three high-leg connecting rods (4-2). The high-leg center plate (4-1) is provided with three sets of through holes, each set of through holes being used for bolt connection with the high-leg connecting rod (4-2). One end of the high-leg connecting rod (4-2) is connected to the high-leg center plate (4-1), and the other end is connected to the machine toe (3).
6. The easily detachable and modular parallel bipedal walking robot according to claim 1, characterized in that: The low-foot connector (5) includes a low-foot center plate (5-1) and three low-foot connecting rods (5-2). The low-foot center plate (5-1) is provided with three sets of through holes, each set of through holes being used for bolt connection with the low-foot connecting rods (5-2). One end of the low-foot connecting rod (5-2) is connected to the low-foot center plate (5-1), and the other end is connected to the machine toe (3).
7. The easily detachable and modular parallel bipedal walking robot according to claim 1, characterized in that: The universal hinge (6) includes a cross shaft (6-1) and two U-shaped seats (6-2). Each U-shaped seat (6-2) has a set of through holes evenly distributed around its circumference on its bottom surface for bolting to the machine toe (3), telescopic rod (1-2), trapezoidal strip (2-1) or housing (1-1).
8. The easily detachable and modular parallel bipedal walking robot according to claim 1, characterized in that: The drive chain (9) converts electrical energy into mechanical energy. Under the action of the control signal, it controls the length of the electric push rod (1) and transmits the change in the length of the electric push rod (1) to the high foot (7) or the low foot (8) to perform alternating walking.
9. The easily detachable and modular parallel bipedal walking robot according to claim 1, characterized in that: The movement patterns of the high-footed (7) and low-footed (8) are as follows: The high foot (7) serves as one of the robot's feet; When the high foot (7) contacts the ground, the three machine toes (3) connected to the high foot connector (4) in an equilateral triangle distribution simultaneously contact the ground; When the high foot (7) is detached from the ground, the three machine toes (3) connected to the high foot connector (4) in an equilateral triangle distribution are simultaneously suspended above the ground, while the low foot (8) is in contact with the ground; The lower leg (8) serves as the other leg in the robot's bipedal system; When the low foot (8) contacts the ground, the three machine toes (3) connected to the low foot connector (5) in an equilateral triangle distribution simultaneously contact the ground; When the low foot (8) is detached from the ground, the three machine toes (3) connected to the low foot connector (5) in an equilateral triangle distribution are simultaneously suspended above the ground, while the high foot (7) is in contact with the ground.