Hexapod robot
By designing a foreleg structure with multiple degrees of freedom, the hexapod robot achieves stable support and grasping on complex terrain, solving the problems of poor motion stability and high energy consumption of existing hexapod robots in complex environments, and improving adaptability and passability.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- KINGKONG TECH
- Filing Date
- 2026-03-16
- Publication Date
- 2026-04-21
AI Technical Summary
Existing hexapod robots have poor stability in complex terrain, complex structures and high energy consumption, making it difficult for them to navigate smoothly on rugged mountain roads, areas with steps or ravines, and indoor environments.
The structure adopts a design with four hind feet and two forefeet. The forefeet include a first hip joint, a first knee joint, a first ankle joint, and a gripping walking component arranged in sequence. The gripping walking component has multiple degrees of freedom and achieves stable support and gripping through the flexible adjustment of multiple joints, reducing structural complexity and energy consumption.
It improves the motion stability and grasping ability of hexapod robots in complex environments, reduces energy consumption, and enhances their adaptability and traversal ability in complex terrains.
Smart Images
Figure CN121894073A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of hexapod robot technology, and more particularly to a hexapod robot. Background Technology
[0002] A hexapod robot is a robot that mimics the six-legged walking mechanism of insects. It walks using six mechanical legs, possessing excellent adaptability and flexibility, and can be applied in various environments. For easier object grasping, the hexapod robot also has a separate grasping mechanism on its top.
[0003] However, existing hexapod robots exhibit poor stability during movement when facing complex terrains, such as rugged mountain paths, areas with steps or ditches, and indoor environments, making them unable to navigate these challenging conditions smoothly. Furthermore, the complex structure of hexapod robots increases material and manufacturing costs, and also leads to greater energy consumption during movement and grasping processes. Summary of the Invention
[0004] The purpose of this invention is to provide a hexapod robot that can improve stability during movement, increase integration, reduce energy consumption and structural complexity, and improve grasping ability.
[0005] To achieve this objective, the present invention adopts the following technical solution: A hexapod robot, comprising: body; The fuselage has four hind legs, all of which have the same structure. Two of the hind legs are symmetrically arranged on both sides of the middle part of the fuselage, and the other two hind legs are symmetrically arranged on both sides of the rear part of the fuselage. The two forelegs have identical structures and are symmetrically arranged on both sides of the front of the fuselage. Each foreleg includes a first hip joint, a first knee joint, a first ankle joint, and a gripping walking assembly arranged sequentially. The first hip joint rotates relative to the fuselage with the vertical direction as its rotation center line. The first knee joint can rotate left and right relative to the first hip joint, and the first ankle joint can rotate up and down relative to the first knee joint. The rotation center lines of the first hip joint, the first knee joint, and the first ankle joint are perpendicular to each other. The clamping and walking assembly includes a connecting component, a first gripper, and a second gripper. The connecting component is disposed on the first ankle joint and can rotate up and down relative to the first ankle joint. Both the first gripper and the second gripper are disposed on the connecting component. At least one of the first gripper and the second gripper can rotate up and down relative to the connecting component, causing the first gripper and the second gripper to move closer to or further away from each other.
[0006] In some possible implementations, the connecting assembly includes a first arm that is rotatable up and down relative to the first ankle joint, and the first gripper and the second gripper are both disposed on the first arm; or, the connecting assembly includes a second arm and a third arm, the second arm being rotatable up and down relative to the first ankle joint, the third arm being rotatable left and right relative to the second arm, the rotation center line of the third arm being perpendicular to the rotation center line of the second arm, and the first gripper and the second gripper are both disposed on the third arm.
[0007] In some possible implementations, the clamping and walking assembly further includes a first joint motor disposed on the connecting assembly. The first joint motor is used to drive the second gripper to rotate. The first gripper is disposed on the housing of the first joint motor and is fixed relative to the housing of the first joint motor.
[0008] In some possible implementations, the connecting assembly has a first slot, the first joint motor is rotatably disposed on the slot wall on one side of the first slot, the output end of the first joint motor is fixed to the slot wall on the other side of the first slot, and the second gripper is fixed to the connecting assembly.
[0009] In some possible implementations, the housing of the first joint motor is provided with a plurality of protrusions along its circumference, the first gripper is provided with a fitting hole, the fitting hole is inserted into the first joint motor along the axial direction of the first joint motor, the wall of the fitting hole is provided with a plurality of grooves along its circumference, the plurality of grooves are provided in a one-to-one correspondence with the plurality of protrusions, and the protrusions are engaged in the corresponding grooves.
[0010] In some possible implementations, the housing of the first joint motor is rotatably provided with a first rotating member, the first rotating member having a first fixing part, and the first fixing part being detachably connected to the groove wall on one side of the first slot.
[0011] In some possible implementations, a first flange is provided between the output end of the first joint motor and the groove wall on the other side of the first slot. The first flange is fixed to the output end of the first joint motor by screws. A second fixing part is provided on the side wall of the first flange. The second fixing part is detachably connected to the groove wall on the other side of the first slot.
[0012] In some possible implementations, the second gripper is integrally formed with the connecting assembly.
[0013] In some possible implementations, the hind foot includes a second hip joint, a second knee joint, and a second ankle joint arranged sequentially. The second hip joint rotates relative to the fuselage with a vertical rotation center line as its rotation center line. The second knee joint can rotate up and down relative to the second hip joint. The second ankle joint can rotate up and down relative to the second knee joint. The rotation center line of the second knee joint is perpendicular to the rotation center line of the second hip joint, and the rotation center line of the second ankle joint is parallel to the rotation center line of the second knee joint.
[0014] In some possible implementations, the second hip joint is provided with a second slot, the hind foot also includes a second joint motor, the second joint motor is rotatably disposed on the slot wall on one side of the second slot, the output end of the second joint motor is fixed to the slot wall on the other side of the second slot, and one end of the second knee joint is disposed on the housing of the second joint motor and is fixed relative to the housing of the second joint motor. The second knee joint is provided with a third slot, and the hind foot also includes a third joint motor. The third joint motor is rotatably disposed on the slot wall on one side of the third slot, and the output end of the third joint motor is fixed to the slot wall on the other side of the third slot. One end of the second ankle joint is disposed on the housing of the third joint motor and is fixed relative to the housing of the third joint motor.
[0015] The beneficial effects of this invention are: The hexapod robot provided by this invention includes a body, four hind legs, and two forelegs. Each foreleg includes a first hip joint, a first knee joint, a first ankle joint, and a gripping and walking assembly arranged sequentially. The gripping and walking assembly includes a connecting component, a first gripper, and a second gripper. The first hip joint rotates relative to the body about a vertical axis of rotation. The first knee joint can rotate left and right relative to the first hip joint, and the first ankle joint can rotate up and down relative to the first knee joint. The connecting component can rotate up and down relative to the first ankle joint, giving the forelegs at least four degrees of freedom. This allows the hexapod robot to flexibly adjust its posture on complex terrain, achieving more complex and precise movements. It also allows the forelegs to better support objects, ensuring stable support and improving stability during movement. The connecting component is located at the first ankle joint. The first and second grippers can move closer or further apart. The gripping and walking assembly can contact the ground to achieve walking and can also grasp objects, increasing integration and reducing the energy consumption and structural complexity of the hexapod robot. When grasping objects, the forelegs, with at least four degrees of freedom, can flexibly adjust their posture to adapt to the object's shape, allowing the first and second grippers to more precisely conform to the object's surface, achieving stable grasping and improving grasping ability. During walking, at least one of the first and second grippers can rotate vertically relative to the connecting assembly, increasing the forelegs' degrees of freedom to at least five. This allows the hexapod robot to adjust its posture more flexibly, further improving stability during movement. Attached Figure Description
[0016] Figure 1 This is a first-view structural diagram of the hexapod robot provided in Embodiment 1 of the present invention; Figure 2 This is a second-view structural diagram of the hexapod robot provided in Embodiment 1 of the present invention; Figure 3 This is a first-view structural diagram of the forefoot according to Embodiment 1 of the present invention; Figure 4 This is a schematic diagram of the second-view structure of the forefoot according to Embodiment 1 of the present invention; Figure 5 This is a schematic diagram of the structure of the first arm, the first joint motor, and the fifth joint motor according to Embodiment 1 of the present invention; Figure 6 This is a schematic diagram of the hind foot structure according to Embodiment 1 of the present invention; Figure 7 This is a schematic diagram of the hexapod robot provided in Embodiment 2 of the present invention; Figure 8 This is a schematic diagram of the first-view structure of the forefoot involved in Embodiment 2 of the present invention; Figure 9 This is a schematic diagram of the second-view structure of the forefoot involved in Embodiment 2 of the present invention.
[0017] In the picture: 1. Fuselage; 2. Hind foot; 21. Second hip joint; 211. Second slot; 22. Second knee joint; 221. Third slot; 23. Second ankle joint; 24. Sixth joint motor; 3. Forefoot; 31. First hip joint; 32. First knee joint; 321. Fourth slot; 33. First ankle joint; 331. Fifth slot; 10. First arm; 20. Second arm; 30. Third arm; 40. First slot; 35. First gripper; 351. First boss; 36. Second gripper; 361. Second boss; 37. First joint motor; 38. Fifth joint motor; 39. Seventh joint motor. Detailed Implementation
[0018] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.
[0019] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.
[0020] In the description of this invention, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.
[0021] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.
[0022] Example 1 like Figures 1 to 6As shown, this embodiment provides a hexapod robot, including a body 1, four hind legs 2 and two forelegs 3. The four hind legs 2 have the same structure, with two hind legs 2 symmetrically arranged on both sides of the middle part of the body 1; the other two hind legs 2 are symmetrically arranged on both sides of the rear part of the body 1. The two forelegs 3 have the same structure, with two forelegs 3 symmetrically arranged on both sides of the front part of the body 1. Each foreleg 3 includes a first hip joint 31, a first knee joint 32, a first ankle joint 33 and a gripping walking component arranged in sequence. The first hip joint 31 rotates relative to the body 1 with the vertical direction as the rotation center line, which can realize the back-and-forth swing of the foreleg 3. The first knee joint 32 can rotate left and right relative to the first hip joint 31, and the first ankle joint 33 can rotate up and down relative to the first knee joint 32. The rotation center lines of the first hip joint 31, the first knee joint 32 and the first ankle joint 33 are perpendicular to each other. The clamping walking assembly includes a connecting assembly, a first gripper 35, and a second gripper 36. The connecting assembly is disposed on the first ankle joint 33 and can rotate up and down relative to the first ankle joint 33. The first gripper 35 and the second gripper 36 are both connected to the connecting assembly. At least one of the first gripper 35 and the second gripper 36 can rotate up and down relative to the connecting assembly, so that the first gripper 35 and the second gripper 36 move closer to or further away from each other.
[0023] The first hip joint 31 rotates relative to the body 1 with the vertical direction as the rotation center line. The first knee joint 32 can rotate left and right relative to the first hip joint 31, and the first ankle joint 33 can rotate up and down relative to the first knee joint 32. The connecting component can rotate up and down relative to the first ankle joint 33, giving the forelegs 3 at least four degrees of freedom. This allows the hexapod robot to flexibly adjust its posture on complex terrain, achieving more complex and precise movements. The forelegs 3 can better support the support, ensuring stable support and improving stability during movement. The connecting component is located at the first ankle joint 33. The first gripper 35 and the second gripper 36 can move closer or further apart, allowing the gripping and walking components to contact the ground for walking and object grasping. This increases integration and reduces energy consumption and structural complexity. When grasping objects, the forelegs 3, with at least four degrees of freedom, can flexibly adjust their posture to adapt to the object's shape, allowing the first gripper 35 and the second gripper 36 to more accurately conform to the object's surface, achieving stable grasping and improving grasping ability. During walking, at least one of the first gripper 35 and the second gripper 36 can rotate vertically relative to the connecting component. Specifically, the first gripper 35 can rotate vertically relative to the connecting component, or the second gripper 36 can rotate vertically relative to the connecting component, or both the first gripper 35 and the second gripper 36 can rotate vertically relative to the connecting component. This increases the degrees of freedom of the forelegs 3, giving them at least five degrees of freedom. This allows the hexapod robot to adjust its posture more flexibly, further improving its stability during movement. Furthermore, the design of the forelegs 3 enhances the hexapod robot's adaptability and maneuverability in complex environments. The movement patterns of the two forelegs 3 can be flexibly adjusted according to different task requirements, such as detection, rescue, and transport, meeting diverse application scenarios and broadening the application scope of the hexapod robot.
[0024] Optionally, in this embodiment, the body 1 is made of polyetheretherketone (PEEK). This design gives the body 1 a lightweight and high-strength profile, providing stable support for the four hind legs 2 and two front legs 3. The body 1 houses a main control board and a battery. The battery provides power to the four hind legs 2 and two front legs 3. The main control board is communicatively connected to all four hind legs 2 and two front legs 3, controlling their movement. The body 1 is equipped with a camera and LED lights. The camera captures images of the external environment, and the LED lights provide illumination.
[0025] Optionally, in this embodiment, the gripping and walking assembly further includes a first joint motor 37, which is disposed on the connecting assembly. The first joint motor 37 drives the second gripper 36 to rotate. The first gripper 35 is disposed on the housing of the first joint motor 37 and is fixed relative to the housing of the first joint motor 37. The second gripper 36 can grip the object by moving closer to or further away from the first gripper 35. This configuration simplifies the structure of the gripping and walking assembly and reduces the energy consumption of the hexapod robot.
[0026] Optionally, in this embodiment, the connecting component includes a first arm 10, which can rotate up and down relative to the first ankle joint 33. A first gripper 35 and a second gripper 36 are both disposed on the first arm 10. This arrangement simplifies the structure of the connecting component and ensures stable support. Specifically, the first gripper 35 is fixed to the first arm 10, and the second gripper 36 is connected to the first arm 10 and can rotate up and down relative to it. For example, when climbing stairs, the forward and backward swinging of the first hip joint 31 and the left and right rotation of the first knee joint 32 can adjust the starting position and direction of the forefoot 3. The up and down rotation of the first ankle joint 33, the up and down rotation of the first arm 10, and the up and down rotation of the second gripper 36 allow the forefoot 3 to conform to the stair steps, ensuring stable support.
[0027] Optionally, in this embodiment, the connecting component has a first slot 40, a first articulated motor 37 is rotatably disposed on one side of the slot wall of the first slot 40, the output end of the first articulated motor 37 is fixed to the other side of the slot wall of the first slot 40, a second gripper 36 is fixed to the connecting component, and a first gripper 35 is disposed on the housing of the first articulated motor 37 and is relatively fixed to the housing of the first articulated motor 37. Specifically, the first arm 10 has a first slot 40, and the second gripper 36 is fixed to the first arm 10. When the first articulated motor 37 is running, the first gripper 35 is relatively fixed to the housing of the first articulated motor 37, the output end of the first articulated motor 37 drives the connecting component to rotate, and since the second gripper 36 is fixed to the connecting component, the second gripper 36 is driven to rotate. By setting the first slot 40, the space occupied by the first articulated motor 37 can be saved, and by rotatably disposing the first articulated motor 37 on one side of the slot wall of the first slot 40, relative rotation between the first gripper 35 and the second gripper 36 can be realized when the first articulated motor 37 is running.
[0028] Optionally, the first gripper 35 is detachably mounted on the housing of the first joint motor 37. In this embodiment, the housing of the first joint motor 37 has multiple protrusions along its circumference, and the first gripper 35 has a fitting hole. The fitting hole is inserted into the first joint motor 37 axially. The wall of the fitting hole has multiple grooves along its circumference, and the grooves correspond one-to-one with the protrusions. The protrusions are engaged in the corresponding grooves. This configuration allows for a detachable connection between the first gripper 35 and the housing of the first joint motor 37, and facilitates easy assembly and disassembly, preventing the first gripper 35 from rotating relative to the housing of the first joint motor 37. Optionally, the opposite sides of the first gripper 35 can respectively abut against the opposite sidewalls of the first slot 40. This configuration further restricts the axial position of the first gripper 35 relative to the housing of the first joint motor 37.
[0029] Optionally, the housing of the first joint motor 37 is rotatably equipped with a first rotating component, which has a first fixing part. The first fixing part is detachably connected to the groove wall on one side of the first slot 40. With this configuration, during installation, the first joint motor 37 is placed inside the first slot 40, and the first fixing part is installed on the groove wall on one side of the first slot 40, making assembly and disassembly convenient. Optionally, in this embodiment, the first fixing part is fixed to the groove wall on one side of the first slot 40 with screws. This configuration provides a more secure fixation of the first fixing part.
[0030] Optionally, a first flange is provided between the output end of the first joint motor 37 and the groove wall on the other side of the first slot 40. The first flange is fixed to the output end of the first joint motor 37 with screws. A second fixing part is provided on the side wall of the first flange, and the second fixing part is detachably connected to the groove wall on the other side of the first slot 40. With this configuration, during installation, the first flange is fixed to the output end of the first joint motor 37 with screws, and then the second fixing part of the first flange is installed on the groove wall on the other side of the first slot 40, making disassembly and assembly convenient. Optionally, the second fixing part is fixed to the groove wall on the other side of the first slot 40 with screws. This configuration provides a more reliable fixation of the second fixing part.
[0031] Optionally, the second gripper 36 is integrally formed with the connecting assembly. Specifically, in this embodiment, the second gripper 36 is integrally formed with the first arm 10. This configuration saves installation steps, ensures structural strength, and improves support stability when the second gripper 36 is in contact with the ground. In other embodiments, the second gripper 36 is detachably connected to the connecting assembly.
[0032] Optionally, the first gripper 35 has a first protrusion 351 on the side near the second gripper 36, and the second gripper 36 has a second protrusion 361 on the side near the first gripper 35. The first protrusion 351 has a first contact surface, and the second protrusion 361 has a second contact surface, which are in contact with the first contact surface. This arrangement increases the contact area between the first gripper 35 and the second gripper 36 and the object to be gripped, achieving reliable gripping of the object. Optionally, both the second contact surface and the first contact surface have a wave structure. This arrangement increases the friction between the first gripper 35 and the second gripper 36 and the object to be gripped, preventing the object from falling during gripping.
[0033] Optionally, such as Figure 6 As shown, the hind foot 2 includes a second hip joint 21, a second knee joint 22, and a second ankle joint 23 arranged sequentially. The second hip joint 21 rotates relative to the body 1 with the vertical direction as its rotation center line, enabling the hind foot 2 to swing back and forth. The second knee joint 22 can rotate up and down relative to the second hip joint 21, and the second ankle joint 23 can rotate up and down relative to the second knee joint 22. The rotation center line of the second knee joint 22 is perpendicular to the rotation center line of the second hip joint 21, and the rotation center line of the second ankle joint 23 is parallel to the rotation center line of the second knee joint 22. By rotating the second hip joint 21 with the vertical direction as its rotation center line relative to the body 1, and by allowing the second knee joint 22 and the second ankle joint 23 to rotate up and down relative to the second knee joint 22, the hind foot 2 has three degrees of freedom. The number of degrees of freedom of the hind foot 2 is less than that of the forefoot 3. While ensuring the basic mobility function of the hind foot 2, it is possible to further reduce unnecessary energy consumption and structural complexity while enabling the hexapod robot to perform more complex and precise movements. During the hexapod robot's walking process, the forward and backward swing of the second hip joint 21 provides forward propulsion, the flexion and extension of the second knee joint 22, i.e., the up and down rotation, adjusts the lifting and lowering height of the hind foot 2, and the up and down rotation of the second ankle joint 23 is used to adapt to different ground tilt angles to ensure walking stability.
[0034] Optionally, in this embodiment, the second hip joint 21 is provided with a second slot 211, and the hind foot 2 also includes a second joint motor. The second joint motor is rotatably disposed on one side of the slot wall of the second slot 211, and the output end of the second joint motor is fixed to the other side of the slot wall of the second slot 211. One end of the second knee joint 22 is disposed on the housing of the second joint motor and is fixed relative to the housing of the second joint motor. By providing the second slot 211, the space occupied by the second joint motor can be saved. By rotatably disposing the second joint motor on one side of the slot wall of the second slot 211, relative rotation between the second hip joint 21 and the second knee joint 22 can be realized when the second joint motor is running.
[0035] Optionally, in this embodiment, the second knee joint 22 is provided with a third slot 221, and the hind foot 2 also includes a third joint motor. The third joint motor is rotatably disposed on one side of the slot wall of the third slot 221, and the output end of the third joint motor is fixed to the other side of the slot wall of the third slot 221. One end of the second ankle joint 23 is disposed on the housing of the third joint motor and is fixed relative to the housing of the third joint motor. By providing the third slot 221, the space occupied by the third joint motor can be saved. By rotatably disposing the third joint motor on one side of the slot wall of the third slot 221, relative rotation between the second ankle joint 23 and the second knee joint 22 can be realized when the third joint motor is running.
[0036] Optionally, in this embodiment, as Figure 4 As shown, the first knee joint 32 is provided with a fourth slot 321, and the forefoot 3 also includes a fourth joint motor. The fourth joint motor is rotatably disposed on one side of the slot wall of the fourth slot 321, and the output end of the fourth joint motor is fixed to the slot wall on the other side of the fourth slot 321. One end of the first ankle joint 33 is disposed on the housing of the fourth joint motor and is fixed relative to the housing of the fourth joint motor. Optionally, in this embodiment, as... Figure 4 and Figure 5 As shown, the first ankle joint 33 is provided with a fifth slot 331, and the forefoot 3 also includes a fifth joint motor 38. The fifth joint motor 38 is rotatably disposed on one side of the slot wall of the fifth slot 331, and the output end of the fifth joint motor 38 is fixed to the slot wall on the other side of the fifth slot 331. One end of the connecting component is disposed on the housing of the fifth joint motor 38 and is fixed relative to the housing of the fifth joint motor 38. Specifically, in this embodiment, the first arm 10 is disposed on the housing of the fifth joint motor 38 and is fixed relative to the housing of the fifth joint motor 38.
[0037] Furthermore, the specific connection structures of the second joint motor rotating on one side of the groove wall of the second slot 211, the third joint motor rotating on one side of the groove wall of the third slot 221, the fourth joint motor rotating on one side of the groove wall of the fourth slot 321, and the fifth joint motor 38 rotating on one side of the groove wall of the fifth slot 331 are all the same as the specific connection structure of the first joint motor 37 rotating on one side of the groove wall of the first slot 40. Therefore, this embodiment will not elaborate on these details.
[0038] The specific connection structure of one end of the second knee joint 22 being disposed in and fixed relative to the housing of the second joint motor, the specific connection structure of one end of the second ankle joint 23 being disposed in and fixed relative to the housing of the third joint motor, the specific connection structure of one end of the first ankle joint 33 being disposed in and fixed relative to the housing of the fourth joint motor, and the specific connection structure of one end of the connecting component being disposed in and fixed relative to the housing of the fifth joint motor 38 are all the same as the specific connection structure of the first gripper 35 being disposed in and fixed relative to the housing of the first joint motor 37. Therefore, this embodiment will not describe this in detail.
[0039] The specific connection structures for fixing the output end of the second joint motor to the groove wall on the other side of the second slot 211, the specific connection structures for fixing the output end of the third joint motor to the groove wall on the other side of the third slot 221, the specific connection structures for rotatably setting the fourth joint motor on one side of the groove wall of the fourth slot 321, and the specific connection structures for fixing the output end of the fifth joint motor 38 to the groove wall on the other side of the fifth slot 331 are all the same as the specific connection structures for fixing the output end of the first joint motor 37 to the groove wall on the other side of the first slot 40. Therefore, this embodiment will not describe them in detail.
[0040] In addition, the hind foot 2 also includes a sixth joint motor 24, which is fixed to the body 1 and is used to drive the second hip joint 21 to rotate relative to the body 1 with the vertical direction as the rotation center line. The forefoot 3 also includes a seventh joint motor 39 and an eighth joint motor. The seventh joint motor 39 is fixed to the body 1 and is used to drive the first hip joint 31 to rotate relative to the body 1 with the vertical direction as the rotation center line. The eighth joint motor is fixed to the first hip joint 31 and is used to drive the first knee joint 32 to rotate left and right.
[0041] Furthermore, the parameters of the motors of each joint can be adjusted in real time according to the environment and task requirements of the hexapod robot. For example, when moving quickly on flat ground, the control algorithm will prioritize the coordinated movement of each leg to increase the movement speed. On complex terrain, it will precisely control each degree of freedom of the two forelegs 3 according to the terrain information to find suitable support points and achieve stable obstacle crossing.
[0042] Example 2 like Figures 7 to 9 As shown, this embodiment provides a hexapod robot, including a body 1, four hind legs 2, and two front legs 3. The difference between the hexapod robot provided in this embodiment and that in Embodiment 1 lies in the specific structure of the connecting components; therefore, this embodiment will not elaborate on the structures identical to those in Embodiment 1.
[0043] Optionally, in this embodiment, the connecting component includes a second arm 20 and a third arm 30. The second arm 20 can rotate vertically relative to the first ankle joint 33, and the third arm 30 can rotate horizontally relative to the second arm 20. The rotation center line of the third arm 30 is perpendicular to the rotation center line of the second arm 20. The first gripper 35 and the second gripper 36 are both disposed on the third arm 30. This configuration adds a degree of freedom for finely adjusting the foot posture, allowing for fine-tuning the contact angle between the forefoot 3 and the ground, ensuring stable support. For example, when climbing stairs, the forward and backward swinging of the first hip joint 31 and the left and right rotation of the first knee joint 32 can adjust the starting position and direction of the forefoot 3. The vertical rotation of the first ankle joint 33 and the vertical rotation of the second arm 20 allow the forefoot 3 to conform to the stair steps. The left and right rotation of the third arm 30 is used to fine-tune the contact angle between the forefoot 3 and the steps, further ensuring stable support. When the first gripper 35 and the second gripper 36 grasp small, irregular objects, the third arm 30 can rotate left and right relative to the second arm 20, allowing the first gripper 35 and the second gripper 36 to more precisely adhere to the object surface and achieve stable grasping. Specifically, in this embodiment, the second arm 20 is disposed on and fixed relative to the housing of the fifth joint motor 38, and the third arm 30 is provided with a first slot 40. In addition, the foreleg 3 also includes a ninth joint motor, which is fixed to one end of the second arm 20 and is used to drive the third arm 30 to rotate left and right.
[0044] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.
Claims
1. A hexapod robot, characterized in that, include: fuselage (1); The four hind legs (2) have the same structure. Two of the hind legs (2) are symmetrically arranged on both sides of the middle part of the fuselage (1); the other two hind legs (2) are symmetrically arranged on both sides of the rear part of the fuselage (1). Two forelegs (3), both of which have the same structure, are symmetrically arranged on both sides of the front of the fuselage (1). Each foreleg (3) includes a first hip joint (31), a first knee joint (32), a first ankle joint (33), and a clamping walking assembly arranged in sequence. The first hip joint (31) rotates relative to the fuselage (1) with the vertical direction as the rotation center line. The first knee joint (32) can rotate left and right relative to the first hip joint (31). The first ankle joint (33) can rotate up and down relative to the first knee joint (32). The rotation center lines of the first hip joint (31), the first knee joint (32), and the first ankle joint (33) are perpendicular to each other. The clamping and walking assembly includes a connecting assembly, a first gripper (35), and a second gripper (36). The connecting assembly is disposed on the first ankle joint (33) and can rotate up and down relative to the first ankle joint (33). The first gripper (35) and the second gripper (36) are both disposed on the connecting assembly. At least one of the first gripper (35) and the second gripper (36) can rotate up and down relative to the connecting assembly, so that the first gripper (35) and the second gripper (36) move closer to or further away from each other.
2. The hexapod robot according to claim 1, characterized in that, The connecting component includes a first arm (10), which is rotatable up and down relative to the first ankle joint (33), and the first gripper (35) and the second gripper (36) are both disposed on the first arm (10); or, the connecting component includes a second arm (20) and a third arm (30), the second arm (20) is rotatable up and down relative to the first ankle joint (33), the third arm (30) is rotatable left and right relative to the second arm (20), the rotation center line of the third arm (30) is perpendicular to the rotation center line of the second arm (20), and the first gripper (35) and the second gripper (36) are both disposed on the third arm (30).
3. The hexapod robot according to claim 1, characterized in that, The clamping and walking assembly also includes a first joint motor (37), which is disposed on the connecting assembly. The first joint motor (37) is used to drive the second gripper (36) to rotate. The first gripper (35) is disposed on the housing of the first joint motor (37) and is fixed relative to the housing of the first joint motor (37).
4. The hexapod robot according to claim 3, characterized in that, The connecting component is provided with a first slot (40), the first joint motor (37) is rotatably disposed on the slot wall on one side of the first slot (40), the output end of the first joint motor (37) is fixed to the slot wall on the other side of the first slot (40), and the second gripper (36) is fixed to the connecting component.
5. The hexapod robot according to claim 4, characterized in that, The outer shell of the first joint motor (37) has multiple protrusions along its circumference. The first gripper (35) has a sleeve hole. The sleeve hole is inserted into the first joint motor (37) along the axial direction. The wall of the sleeve hole has multiple grooves along its circumference. The multiple grooves are corresponding to the multiple protrusions. The protrusions are inserted into the corresponding grooves.
6. The hexapod robot according to claim 4, characterized in that, The outer casing of the first joint motor (37) is rotatably provided with a first rotating component. The first rotating component is provided with a first fixing part, which is detachably connected to the groove wall on one side of the first slot (40).
7. The hexapod robot according to claim 4, characterized in that, A first flange is provided between the output end of the first joint motor (37) and the groove wall on the other side of the first slot (40). The first flange is fixed to the output end of the first joint motor (37) by screws. A second fixing part is provided on the side wall of the first flange. The second fixing part is detachably connected to the groove wall on the other side of the first slot (40).
8. The hexapod robot according to claim 4, characterized in that, The second gripper (36) is integrally formed with the connecting component.
9. The hexapod robot according to claim 1, characterized in that, The hind foot (2) includes a second hip joint (21), a second knee joint (22), and a second ankle joint (23) arranged in sequence. The second hip joint (21) rotates relative to the fuselage (1) with the vertical direction as the rotation center line. The second knee joint (22) can rotate up and down relative to the second hip joint (21). The second ankle joint (23) can rotate up and down relative to the second knee joint (22). The rotation center line of the second knee joint (22) is perpendicular to the rotation center line of the second hip joint (21), and the rotation center line of the second ankle joint (23) is parallel to the rotation center line of the second knee joint (22).
10. The hexapod robot according to claim 9, characterized in that, The second hip joint (21) is provided with a second slot (211), and the hind foot (2) also includes a second joint motor. The second joint motor is rotatably disposed on the slot wall on one side of the second slot (211), and the output end of the second joint motor is fixed to the slot wall on the other side of the second slot (211). One end of the second knee joint (22) is disposed on the housing of the second joint motor and is fixed relative to the housing of the second joint motor. The second knee joint (22) is provided with a third slot (221), and the hind foot (2) also includes a third joint motor. The third joint motor is rotatably disposed on the slot wall on one side of the third slot (221), and the output end of the third joint motor is fixed to the slot wall on the other side of the third slot (221). One end of the second ankle joint (23) is disposed on the housing of the third joint motor and is fixed relative to the housing of the third joint motor.