Hexapod robot for dangerous environments

Abstract

The application discloses a kind of six-legged exploration robots in dangerous environment. The six-legged exploration robot includes: head component;Chain walking mechanism, each chain walking mechanism includes walking support end, hinged end and chain fixed end, wherein each hinged end is hinged with head component;Lifting mechanism, which includes lifting mechanism fixed end and lifting end, the lifting end is connected with head component, lifting end can move, so as to drive head component to approach or away from lifting mechanism fixed end;Lower platform component, lifting mechanism fixed end is connected with lower platform component, and the chain fixed end of each chain walking mechanism is connected with the lower platform component;Driving assembly, the number of driving assembly is same with the number of chain walking mechanism, and one driving assembly is used to drive one chain walking mechanism to move. Each limb of the application has 2 independent degrees of freedom, and the limb configuration and foot end trajectory are controlled by body deformation, so that the use of motor is reduced.

Description

Technical Field

[0001] This application relates to the field of biomimetic robot technology, and in particular to a hexapod exploration robot and a branched walking mechanism for use in hazardous environments. Background Technology

[0002] In existing technologies, hexapod robots are widely used in disaster relief, exploration, and other fields due to their stable walking patterns. Spherical hexapod robots can add rolling ability to the basic hexapod robot, improving the robot's movement speed on slopes and other terrains. However, current spherical hexapod robots require 18 motors to achieve complete locomotion, resulting in high manufacturing costs. Furthermore, while the entire mass of the robot body is concentrated in the lower hemisphere, a significant portion of the upper hemisphere remains only partially covered by an outer skin, leading to an inefficient spatial distribution.

[0003] Therefore, it is desirable to have a technical solution to overcome or at least mitigate one of the aforementioned defects of the prior art. Summary of the Invention

[0004] The purpose of this application is to provide a hexapod robot to overcome or at least mitigate one of the aforementioned defects of the prior art.

[0005] To achieve the above objectives, this application provides a hexapod robot, the hexapod robot comprising: Header component; A chain walking mechanism, wherein there are multiple chain walking mechanisms, each chain walking mechanism includes a walking support end, a hinge end and a chain fixing end, wherein the hinge end of each chain walking mechanism is hinged to the head assembly. A lifting mechanism, comprising a fixed end and a lifting end, wherein the lifting end is connected to the head assembly and is movable, thereby causing the head assembly to move closer to or away from the fixed end of the lifting mechanism; The lower platform assembly is provided, wherein the fixed end of the lifting mechanism of the lifting mechanism is connected to the lower platform assembly, and the fixed end of each branch walking mechanism is connected to the lower platform assembly. The number of drive components is the same as the number of branch walking mechanisms, with one drive component driving the movement of one branch walking mechanism; wherein... Each branch walking mechanism, together with the head assembly, lower platform assembly, and lifting mechanism, forms a five-bar linkage, thereby enabling the walking support end of the branch walking mechanism to have three degrees of freedom under the drive of the drive assembly and the lifting mechanism.

[0006] Optionally, the head component includes: Head shell; A control system is disposed within the head housing and connected to the lifting mechanism and / or drive assembly, for controlling the operation of the lifting mechanism and / or drive assembly; A power supply is disposed within the head housing and is used to power the control system, lifting mechanism, and drive components. A depth camera is mounted on the head housing; The upper platform assembly includes an upper platform plate and an upper platform lower plate that are connected to each other. The head housing is disposed on the upper platform plate. The upper platform plate and the upper platform lower plate are respectively connected to the hinge end of each branch chain walking mechanism by a male and female rivet, so that each branch chain walking mechanism can rotate around the male and female rivet.

[0007] Optionally, each of the branch walking mechanisms includes: Link 5, one end of which is connected to the upper platform plate and the lower platform plate via a male and female rivet; Link 4, one end of which is hinged to the other end of link 5; Link 3, one end of which is hinged to the other end of link 4, and link 3 is provided with the hinge part of link 2; Link 2, one end of which is hinged to the hinged part of link 2; A rubber ball on the sole of the foot is connected to the other end of the No. 3 connecting rod, serving as the walking support end; Link 1 is connected to link 2, and link 1 serves as the fixed end of the branch.

[0008] Optionally, the driving component includes: A hip joint motor is provided, and the No. 1 link is connected to the lower platform assembly via the hip joint motor, wherein the output end of the hip joint motor is connected to the No. 1 link; A knee joint motor is provided, and the first link is connected to the second link via the knee joint motor, wherein the output end of the knee joint motor is connected to the first link.

[0009] Optionally, the lower platform component includes a lower platform upper plate and a lower platform lower plate; wherein, The lower platform plate and the lower platform lower plate are fixed to the hip joint motor with screws; The lifting mechanism is mounted on the upper plate of the lower platform.

[0010] Optionally, the lifting mechanism includes: A motor bracket, which is fixed to the upper plate of the lower platform; A lifting motor, wherein the lifting motor is mounted on the motor bracket; A long connecting rod assembly, one end of which is mounted on the motor bracket; A motor rocker arm, which is connected to the lifting motor; A connecting rod, one end of which is hinged to the motor rocker arm; A single link, one end of which is hinged to the connecting link; The top connecting portion, the number of which is the sum of the number of the long connecting rod assembly and the number of the single connecting rod, one of the top connecting portions is used to hinge to the end of a long connecting rod assembly away from the motor bracket or to hinge to the end of a single connecting rod away from the connecting rod, the top connecting portion serving as the lifting end.

[0011] Optionally, the output end of the hip joint motor is coaxial with the male and female rivets used to connect the upper platform plate, the lower platform plate, and the No. 5 connecting rod.

[0012] Optionally, when the No. 2 link of each of the branch walking mechanisms forms an angle of 52.3° with the horizontal plane and the motor rocker arm forms an angle of 41.1° with the horizontal plane, the lifting mechanism and the lower platform assembly are enclosed in a sphere by each of the branch walking mechanisms.

[0013] Optionally, the head housing includes: Top cover, the top cover including a top cover body and a connecting arm connected to the top cover body; A support plate is mounted on the upper platform and connected to the connecting arm. The power supply, depth camera, and control system are mounted on the support plate.

[0014] This application also provides a branch walking mechanism, which is the branch walking mechanism described above.

[0015] The hexapod robot of this application has the following advantages: The hexapod robot of this application uses a 5-bar linkage to ensure that each branch has three degrees of freedom while reducing the use of motors.

[0016] The six-legged robot of this application uses a lifting mechanism to lift the upper and lower platforms, thereby improving the utilization rate of the internal space of the robot. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of a hexapod robot according to an embodiment of this application; Figure 2 This is a schematic diagram of the head assembly structure in a hexapod robot according to an embodiment of this application; Figure 3 This is a schematic diagram of the upper platform component structure in a hexapod robot according to an embodiment of this application; Figure 4 This is a schematic diagram of the branched walking mechanism in a hexapod robot according to an embodiment of this application; Figure 5 This is a schematic diagram of the lower platform component structure of a hexapod robot according to an embodiment of this application; Figure 6 This is a schematic diagram of the lifting mechanism in a hexapod robot according to an embodiment of this application; Figure 7 This is a schematic diagram of the overall structural contraction process in a hexapod robot according to an embodiment of this application; Figure 8 This is a schematic diagram showing the overall structure of a hexapod robot according to an embodiment of this application after it has been retracted.

[0018] Figure Labels

[0019] 1-Head assembly, 2-Upper platform assembly, 3-Branch walking mechanism, 4-Lower platform assembly, 5-Lifting mechanism, 101-Head shell, 102-Depth camera, 103-Motor conversion board, 104-Power supply, 105-Support frame, 106-Raspberry Pi, 201-Upper platform upper plate, 202-Upper platform lower plate, 301-Pole 5, 302-Hip joint motor, 303-Link 1, 304-Link 2, 305-Knee joint motor, 306-Foot rubber ball, 307-Link 3, 308-Link 4, 401-Lower platform upper plate, 402-Lower platform lower plate, 501-Top connection, 502-Long connecting rod, 503-Motor bracket, 504-Lifting motor, 505-Motor rocker arm, 506-Connecting link, 507-Single link. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below with reference to the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of this application. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application. The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0021] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this application.

[0022] Figure 1 This is a schematic diagram of the overall structure of a hexapod robot according to an embodiment of this application; Figure 2 This is a schematic diagram of the head assembly structure in a hexapod robot according to an embodiment of this application; Figure 3 This is a schematic diagram of the upper platform component structure in a hexapod robot according to an embodiment of this application; Figure 4 This is a schematic diagram of the branched walking mechanism in a hexapod robot according to an embodiment of this application; Figure 5 This is a schematic diagram of the lower platform component structure of a hexapod robot according to an embodiment of this application; Figure 6 This is a schematic diagram of the lifting mechanism in a hexapod robot according to an embodiment of this application; Figure 7 This is a schematic diagram of the overall structural contraction process in a hexapod robot according to an embodiment of this application; Figure 8 This is a schematic diagram showing the overall structure of a hexapod robot according to an embodiment of this application after it has been retracted.

[0023] like Figures 1 to 8 The hexapod robot shown includes a head assembly 1, a branched walking mechanism 3, a lifting mechanism 5, a lower platform assembly 4, and a drive assembly. There are multiple branch walking mechanisms 3. Each branch walking mechanism includes a walking support end, a hinge end, and a branch fixing end. The hinge end of each branch walking mechanism 3 is hinged to the head assembly. The lifting mechanism 5 includes a fixed end and a lifting end. The lifting end is connected to the head assembly 1. The lifting end is movable, thereby driving the head assembly 1 to move closer to or further away from the fixed end of the lifting mechanism. The fixed end of the lifting mechanism is connected to the lower platform assembly 4, and the fixed end of each branch walking mechanism 3 is connected to the lower platform assembly. The number of drive components is the same as the number of branch walking mechanisms, with one drive component driving the movement of one branch walking mechanism; wherein, Each branch walking mechanism, together with the head assembly, lower platform assembly, and lifting mechanism, forms a five-bar linkage, thereby enabling the walking support end of the branch walking mechanism to have three degrees of freedom under the drive of the drive assembly and the lifting mechanism.

[0024] The hexapod robot of this application has the following advantages: The hexapod robot of this application uses a 5-bar linkage to ensure that each branch has three degrees of freedom while reducing the use of motors.

[0025] The six-legged robot of this application uses a lifting mechanism to lift the upper and lower platforms, thereby improving the utilization rate of the internal space of the robot.

[0026] In this embodiment, the head assembly includes a head housing 101, a control system, a power supply 104, a depth camera 102, and an upper platform assembly 2, wherein, The control system is located inside the head housing 101 and connected to the lifting mechanism and / or drive assembly, and is used to control the operation of the lifting mechanism and / or drive assembly; A power supply 104 is disposed inside the head housing 101, and the power supply is used to power the control system, the lifting mechanism 5 and the drive assembly. The depth camera 102 is mounted on the head housing 101; The upper platform assembly 2 includes an upper platform plate 201 and an upper platform lower plate 202 that are connected to each other. The head housing is disposed on the upper platform plate 201. The upper platform plate 201 and the upper platform lower plate 202 are connected to the hinge end of each branch walking mechanism by means of male and female rivets, so that each branch walking mechanism can rotate around the male and female rivets.

[0027] In this embodiment, each of the branch chain walking mechanisms includes link 5 301, link 4 308, link 3 307, link 2 304, link 1 304, and a rubber ball on the sole 306, wherein, One end of the No. 5 connecting rod 301 is connected to the upper platform plate 201 and the lower platform plate 202 via a male and female rivet; One end of link 4 308 is hinged to the other end of link 5 301. One end of link 307 is hinged to the other end of link 4308, and link 307 is provided with the hinge part of link 2. One end of the No. 2 connecting rod 304 is hinged to the hinge part of the No. 2 connecting rod; The rubber ball 306 on the sole of the foot is connected to the other end of the No. 3 connecting rod 307, serving as the walking support end; Link 1 304 is connected to link 2 304, and link 1 304 serves as the fixed end of the branch.

[0028] In this embodiment, the drive assembly includes a hip joint motor 302 and a knee joint motor 305, wherein, Link 1 304 is connected to the lower platform assembly via hip joint motor 302, wherein the output end of hip joint motor 302 is connected to link 1 304; Link 1 304 is connected to link 2 304 via knee joint motor 305, wherein the output end of knee joint motor 305 is connected to link 1 304.

[0029] In an alternative embodiment, the chain walking mechanism may further include a hip joint motor bracket and a knee joint motor, with link 1 connected to the lower platform assembly via the hip joint motor bracket, the hip joint motor being installed inside the hip joint motor bracket and the output end of the hip joint motor being connected to link 1.

[0030] Link 1 (304) is connected to link 2 via a knee joint connecting bracket. The knee joint motor is installed inside the knee joint connecting bracket, and the output end of the knee joint motor is connected to link 1.

[0031] In this embodiment, the lower platform component includes a lower platform upper plate 401 and a lower platform lower plate 402; wherein, The lower platform plate 401 and the lower platform plate 402 are fixed to the hip joint motor 302 by screws; The lifting mechanism is mounted on the upper plate 401 of the lower platform.

[0032] In this embodiment, the lifting mechanism includes a motor bracket 503, a lifting motor 504, a long connecting rod assembly 502, a motor rocker arm 505, a connecting rod 506, a single connecting rod 507, and a top connecting part 501, wherein... The motor bracket 503 is fixed to the upper plate 401 of the lower platform; The lifting motor 504 is mounted on the motor bracket 503; One end of the long connecting rod assembly 502 is mounted on the motor bracket 503; The motor rocker arm 505 is connected to the lifting motor 504; One end of the connecting rod 506 is hinged to the motor rocker arm 505; One end of the single link 507 is hinged to the connecting link 506; The number of top connecting parts 501 is the sum of the number of long connecting rod assemblies 502 and single connecting rods 507. One top connecting part is used to hinge to the end of a long connecting rod assembly 502 away from the motor bracket 503 or to hinge to the end of a single connecting rod 507 away from the connecting rod 506. The top connecting part 501 serves as the lifting end.

[0033] In this embodiment, the output end of the hip joint motor 302 is coaxial with the male and female rivets used to connect the upper platform plate, the lower platform plate, and the No. 5 connecting rod 301.

[0034] In this embodiment, when the No. 2 link of each of the branch walking mechanisms forms an angle of 52.3° with the horizontal plane and the motor rocker arm forms an angle of 41.1° with the horizontal plane, the lifting mechanism and the lower platform assembly are enclosed in a sphere by each of the branch walking mechanisms.

[0035] In this embodiment, the head housing 101 includes: Top cover, the top cover including a top cover body and a connecting arm connected to the top cover body; A support plate is mounted on the upper platform and connected to the connecting arm. The power supply, depth camera, and control system are mounted on the support plate.

[0036] This application also provides a branch walking mechanism, which is the branch walking mechanism described above.

[0037] The following examples further illustrate this application in detail. It is understood that these examples do not constitute any limitation on this application.

[0038] like Figure 1 As shown, the hexapod robot of this application includes a head assembly 1, an upper platform assembly 2, a six-branch walking mechanism 3, a lower platform assembly 4, and a lifting mechanism 5; wherein, the head assembly 1 has a head shell 101, a depth camera 102, a control system (the control system includes a motor conversion board 103 and a Raspberry Pi 106), a power supply 104, and a support frame 105.

[0039] In this embodiment, the upper platform component 2 has an upper platform plate 201 and an upper platform lower plate 202; the branch chain walking mechanism includes a No. 5 link 301, a No. 1 link 303, a No. 2 link 304, a foot rubber ball 306, a No. 3 link 307 and a No. 4 link 308; The drive components include a hip joint motor 302 and a knee joint motor 305.

[0040] The lower platform assembly has a lower platform upper plate 401 and a lower platform lower plate 402; the lifting mechanism has a top connection 501, a long connecting rod 502, a motor bracket 503, a lifting motor 504, a 25T motor rocker arm 505, and a connecting rod 506.

[0041] like Figure 2As shown, the head assembly 1 of this application is mainly the mounting location for the control components. The head housing 101 provides sun protection for the control elements, the depth camera 102 provides the hardware foundation for the addition of vision and other functions, the motor conversion board 103 drives all bus motor conversion signals, the power supply 104 provides energy for all motors, and the support frame 105 provides mounting holes for the motor conversion board 103 and Raspberry Pi 106 on top of the support frame 105, and also provides mounting holes for the depth camera 102 in front of the support frame 105. In the head assembly 1, only the head housing 101 and the support frame 105 are 3D printed parts, using white resin material.

[0042] like Figure 3 As shown, in this embodiment, the upper platform component 2 includes an upper platform plate 201 and an upper platform lower plate 202, both made of carbon fiber. It mainly provides support for the head component 1 and provides connection holes for the branch chain walking mechanism 3 and the lifting mechanism 5.

[0043] In this embodiment, the upper platform component 2 adopts a double-layer structure to disperse the holes and thus disperse the functions, avoiding the reduction in strength caused by overly dense holes when using only a single board.

[0044] In this embodiment, in the current upper platform component 2, the upper platform plate 201 mainly provides support for the head component 1, while the lower platform plate 202 provides mounting holes for the top connection 501 in the lifting mechanism 5.

[0045] In this embodiment, the upper platform plate 201 and the lower platform plate 202 have circumferentially distributed holes at the same position. The No. 5 connecting rod 301 in the branch chain walking mechanism 3 is located between the two carbon fiber plates and is connected by a male and female rivet.

[0046] However, the rivet is slightly longer than the sum of the connecting rod height and the thickness of the two carbon plates. Therefore, the preload between the rivets does not act on the two carbon plates, so the compression on the No. 5 connecting rod 301 in the branch chain 3 is not significant, and the branch chain can still swing freely.

[0047] like Figure 4 As shown, the chain walking mechanism 3 assembly has a No. 5 link 301, a No. 1 link 303, a No. 2 link 304, a foot rubber ball 306, a No. 3 link 307, and a No. 4 link 308.

[0048] The hip joint motor 302 is fixed between the lower platform components 4 and provides rotational power for the branch chain 3. Since the output axis of the hip joint motor 302 is coaxial with the connecting rivet of the connecting rod 301 and the upper platform component 2, the entire branch chain 3 rotates around the output axis of the hip joint motor 302 after the hip joint motor 302 is driven.

[0049] Link 1 303 is used to connect hip joint motor 302 and knee joint motor 305. It is shaped like a combination of two motor gimbals and connects to the output ends of the two motors.

[0050] The knee joint motor 305 is fixedly connected to the second connecting rod 304. When driven, the second connecting rod 304 will move around the output end axis.

[0051] Link 307 is located on the outermost side of the entire chain and is responsible for the contact during lateral roll. It is also the link directly connected to the foot rubber ball 306 and is hinged to link 2 304 and link 4 308.

[0052] Link 4 (308) is the intermediate link between link 3 and link 5 (301).

[0053] One end of link 5 301 is hinged to the upper platform assembly 2, allowing it to rotate around the vertical rivet along the branch. The axis of the rivet at the hinge point with link 4 308 is perpendicular to the entire branch plane, allowing link 4 308 to rotate around the rivet at that point in the entire branch plane.

[0054] In this embodiment, if the relative height between the upper platform component 2 and the lower platform component 4 does not change, the second link 304, the knee joint motor 305, the third link 307, and the fourth link 308 constitute a four-bar linkage with one degree of freedom. The driving element is the knee joint motor 305, and the foot position represented by the foot rubber ball 306 is uniquely determined.

[0055] like Figure 5 As shown, in this embodiment, the lower platform assembly 4 clamps the hip joint motor in the middle and then fixes it in place. At the same time, the lower platform plate 401 provides fixing holes for the motor bracket 503 of the lifting mechanism 5.

[0056] like Figure 6 As shown, in this embodiment, the motor bracket 503 is fixed to the lower platform plate 401 by bolts, and is also fixed to the lifting motor 504 by bolts, while being hinged to the two long connecting rods 502 by rivets.

[0057] The lifting motor 504 and the 25T motor rocker arm 505 are fixed with bolts. The 25T motor rocker arm 505 is fixed with the connecting rod 506 with bolts. The top connection 501 is connected with the lower plate of the upper platform 202 with bolts, and each is hinged to a long connecting rod 502.

[0058] The long connecting rod 502, which is hinged to the top connection 501, is respectively hinged to the connecting rod 506 or the long connecting rod 502 that is hinged to the bracket.

[0059] The lifting mechanism connects the upper and lower platforms, forming a sarrus mechanism that converts rotational motion into linear motion.

[0060] In the lifting mechanism 5, the two long connecting rods 502 are of equal length, and the long connecting rods 502 are of equal length to the connecting rod structure formed by 505-25T motor rocker arm, 506-connecting connecting rod, and 507-single connecting rod.

[0061] Furthermore, the plane where the axis of the connecting rod and motor bracket 503 hinges and the axis of the connecting rod and top connection 501 hinge are located are perpendicular to the horizontal plane. That is, the two axes are parallel and only have a distance in the vertical direction. Since the motion planes between each group of connecting rods are not parallel to each other, when the lifting motor 504 rotates, due to the mutual constraints between the parts, the upper platform assembly 2 and the lower platform assembly 4 only maintain a change in distance in the vertical direction, without any offset in the horizontal direction.

[0062] In this embodiment, when the hip joint motor 302 does not rotate, each branch 3, together with the upper platform assembly 2, the lower platform assembly 4, and the lifting mechanism 5, can form a five-bar linkage. This means that the spatial position of the rubber ball at the end of the foot can be controlled by controlling the lifting motor and the knee joint motor of the lifting mechanism. Similarly, when the lifting mechanism maintains different distances between the upper platform assembly 2 and the lower platform assembly 4, the range of motion of each branch is also limited to a specific four-bar linkage, with the foot changing according to the angle of the knee joint.

[0063] The advantages of this invention are: 1. The present invention is a hexapod robot in which each leg has two independent degrees of freedom, and the configuration of the limbs and the trajectory of the foot end are controlled by the deformation of the body, thereby reducing the use of motors.

[0064] 2. The six-legged robot of this invention uses a sarrus mechanism to achieve the lifting and lowering of the upper and lower platforms, thereby improving the utilization of internal space.

[0065] 3. The six-legged robot of the present invention can wrap the outer side of the branch inside the sphere at a specific angle, providing a buffer when the robot rolls over and enabling it to roll using gravitational potential energy.

[0066] 4. The six-legged robot of the present invention uses the method of mutual movement of the upper and lower platforms (upper platform component and lower platform component). Due to the connection form between the upper platform component and the branch walking mechanism, this application can adjust the overall size of the robot while simultaneously changing the working capacity of the branch walking mechanism, thereby increasing the diversity of the robot's external shape and gait control during walking.

[0067] 5. In the hexapod robot of this application, when the relative height of the upper and lower platforms is determined, each branch is a four-bar linkage with a rotary joint. The rotatable four-bar linkage (with the lifting mechanism maintaining different distances between the upper platform component 2 and the lower platform component 4, the range of motion of each branch is also limited to a specific four-bar linkage) is used as the branch walking mechanism, which can not only complete the walking of the foot end, but also connect the upper and lower platforms.

[0068] 6. The hexapod robot of this application, apart from the integrated standard components, uses carbon fiber plates and high-toughness resin 3D printing to manufacture the remaining parts, reducing the weight to about 2.3 kg.

[0069] 7. The hexapod robot of this application is designed with restrictions on the angles and positional relationships between the links of the five-bar linkage. This ensures that, while meeting the robot's movement capabilities and the space required for motor installation, when the second link of each of the branch walking mechanisms forms a 52.3° angle with the horizontal plane and the motor rocker arm forms a 41.1° angle with the horizontal plane, the lifting mechanism and the lower platform assembly are enclosed within a sphere by each of the branch walking mechanisms. Furthermore, when formed as a sphere, it can roll under external force without damaging its internal structure.

[0070] 8. The six-legged robot of this application concentrates the electronic equipment such as the debugging board and battery required to control the motor on the upper platform, which compresses the space of the control components and reduces interference when the robot performs movements.

[0071] 9. The hexapod robot of this application retains the range of motion of the four-bar linkage to a large extent. That is, within the maximum possible range of change of the lifting mechanism, the four-bar linkage of each branch of the robot has a certain amount of room to move, so as not to lock up and be unable to move due to mechanism interference.

[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A hexapod probing robot, characterized in that, The hexapod probe robot includes: Header component (1); The number of branch walking mechanisms (3) is multiple, and each branch walking mechanism includes a walking support end, a hinge end and a branch fixing end. The hinge end of each branch walking mechanism (3) is hinged to the head assembly. The lifting mechanism (5) includes a fixed end and a lifting end. The lifting end is connected to the head assembly (1). The lifting end is movable, thereby driving the head assembly (1) to move closer to or further away from the fixed end of the lifting mechanism. The lower platform assembly (4) is connected to the lower platform assembly (4) by the fixed end of the lifting mechanism of the lifting mechanism, and the fixed end of the branch walking mechanism (3) of each branch walking mechanism (3) is connected to the lower platform assembly. The number of drive components is the same as the number of branch walking mechanisms, with one drive component driving the movement of one branch walking mechanism; wherein... Each branch walking mechanism, together with the head assembly, lower platform assembly, and lifting mechanism, forms a five-bar linkage, thereby enabling the walking support end of the branch walking mechanism to have three degrees of freedom under the drive of the drive assembly and the lifting mechanism.

2. The hexapod exploration robot as described in claim 1, characterized in that, The head component includes: Head shell (101); A control system is disposed within the head housing (101) and connected to the lifting mechanism and / or drive assembly, for controlling the operation of the lifting mechanism and / or drive assembly; A power supply (104) is disposed inside the head housing (101) and is used to supply power to the control system, the lifting mechanism (5) and the drive assembly. A depth camera (102) is mounted on the head housing (101); The upper platform assembly (2) includes an upper platform plate (201) and an upper platform lower plate (202) that are connected to each other. The head housing is disposed on the upper platform plate (201). The upper platform plate (201) and the upper platform lower plate (202) are connected to the hinge end of each branch walking mechanism by means of male and female rivets, so that each branch walking mechanism can rotate around the male and female rivets.

3. The hexapod exploration robot as described in claim 2, characterized in that, Each of the said branch walking mechanisms includes: Link 5 (301), one end of which is connected to the upper platform plate (201) and the lower platform plate (202) via a male and female rivet; Link 4 (308), one end of which is hinged to the other end of link 5 (301); Link 3 (307), one end of which is hinged to the other end of link 4 (308), and link 2 is provided on link 3 (307); Link 2 (304), one end of which is hinged to the hinge part of link 2; A rubber ball (306) on the sole of the foot is connected to the other end of the No. 3 connecting rod (307) and serves as the walking support end; Link 1 (304) is connected to Link 2 (304), and Link 1 (304) serves as the fixed end of the branch.

4. The hexapod exploration robot as described in claim 3, characterized in that, The driving component includes: A hip joint motor (302) is provided, and the No. 1 link (304) is connected to the lower platform assembly through the hip joint motor (302), wherein the output end of the hip joint motor (302) is connected to the No. 1 link (304); A knee joint motor (305) is provided, and the first link (304) is connected to the second link (304) through the knee joint motor (305). The output end of the knee joint motor (305) is connected to the first link (304).

5. The hexapod exploration robot as described in claim 4, characterized in that, The lower platform component includes a lower platform upper plate (401) and a lower platform lower plate (402); wherein, The lower platform upper plate (401), the lower platform lower plate (402), and the hip joint motor (302) are fixed with screws; The lifting mechanism is mounted on the upper plate (401) of the lower platform.

6. The hexapod exploration robot as described in claim 5, characterized in that, The lifting mechanism includes: Motor bracket (503), the motor bracket (503) is fixed to the upper plate (401) of the lower platform; A lifting motor (504) is mounted on the motor bracket (503); A long connecting rod assembly (502), one end of which is disposed on the motor bracket (503); A motor rocker arm (505) is connected to the lifting motor (504); Connecting rod (506), one end of which is hinged to the motor rocker arm (505); A single link (507), one end of which is hinged to the connecting link (506); The top connecting part (501) has a number equal to the sum of the number of the long connecting rod assembly (502) and the number of the single connecting rod (507). One of the top connecting parts is used to hinge to the end of a long connecting rod assembly (502) away from the motor bracket (503) or to hinge to the end of a single connecting rod (507) away from the connecting rod (506). The top connecting part (501) serves as the lifting end.

7. The hexapod exploration robot as described in claim 6, characterized in that, The output end of the hip joint motor (302) is coaxial with the male and female rivets used to connect the upper platform plate, the lower platform plate and the No. 5 connecting rod (301).

8. The hexapod exploration robot as described in claim 7, characterized in that, When the No. 2 link of each of the branch walking mechanisms forms an angle of 52.3° with the horizontal plane and the motor rocker arm forms an angle of 41.1° with the horizontal plane, the lifting mechanism and the lower platform assembly are enclosed in a sphere by each of the branch walking mechanisms.

9. The hexapod exploration robot as described in claim 8, characterized in that, The head shell (101) includes: Top cover, the top cover including a top cover body and a connecting arm connected to the top cover body; A support plate is mounted on the upper platform and connected to the connecting arm. The power supply, depth camera, and control system are mounted on the support plate.

10. A branch chain walking mechanism, characterized in that, The branch walking mechanism is the branch walking mechanism as described in any one of claims 1 to 9.

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