Self-adaptive multi-legged robot

Abstract

The utility model relates to the technical field of multi-legged robots, in particular to a self-adaptive multi-legged robot which comprises a control host, a probe is installed on the upper surface of the control host, first drivers are installed on the two sides of the control host, a second supporting frame is installed at the bottom ends of the first drivers, and a control adjusting block is installed on the inner side of the second supporting frame. A connecting frame is installed on the outer surface of the control adjusting block, an auxiliary rod is installed on the lower surface of the control host, first supporting frames are installed on the two sides of the first driver, first joints are installed on the inner side of the control adjusting block, first adjusting wheels are installed at one ends of the first joints, and first driving assemblies are arranged on the inner sides of the first supporting frames. According to the six-legged spider-imitating robot, the self-adaptive multi-legged robot is arranged, and through reasonable design and multi-degree-of-freedom combination of the joints, the six-legged spider-imitating robot can imitate flexible gaits of spiders, adapt to diversified working environments and execute tasks such as reconnaissance and detection.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of multi-legged robot, especially to a self-adaptive multi-legged robot. BACKGROUND

[0002] The self-adaptive multi-legged robot is a robot capable of automatically adjusting its form and behavior according to environmental changes, and is particularly suitable for complex and variable environments. Such a robot usually has multiple legs, can walk on uneven terrain, and can adapt to various challenges through self-adjustment. Bionic animals refer to artificial systems or devices with similar animal characteristics and capabilities designed and manufactured by imitating the form, structure, function, behavior, and other characteristics of animals, and using knowledge and technical means of biology, engineering, materials science, and other disciplines.

[0003] When the worker needs to perform a reconnaissance task, the worker starts the robot so that the worker controls the robot to conduct reconnaissance and survey of the working environment. However, the existing robot may be tilted during driving due to the terrain, thereby causing the robot to be unable to continue the reconnaissance of the working environment. UTILITY MODEL CONTENT

[0004] The utility model aims at solving the problem that the robot cannot continue to conduct reconnaissance of the working environment in the prior art, and provides a self-adaptive multi-legged robot.

[0005] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a self-adaptive multi-legged robot, comprising a control host, a probe is installed on the upper surface of the control host, first drivers are installed on both sides of the control host, second support frames are installed at the bottom ends of the first drivers, control adjustment blocks are installed on the inner sides of the second support frames, connecting frames are installed on the outer surfaces of the control adjustment blocks, auxiliary rods are installed on the lower surfaces of the control host, first support frames are installed on both sides of the first drivers, first joints are installed on the inner sides of the control adjustment blocks, first adjustment wheels are installed at one end of the first joints, first drive assemblies are arranged on the inner sides of the first support frames, second drive assemblies are arranged on the outer surfaces of the first joints, third drive assemblies are arranged on the outer surfaces of the first adjustment wheels, the first drive assembly comprises a first cylinder, the top end of the first cylinder is connected with the inner side of the first support frame, the other end of the auxiliary rod is connected with the outer surface of the first cylinder, the drive end of the first cylinder is connected with the inner side of the connecting frame, the first cylinder can cooperate with the first support frame, the auxiliary rod, and the connecting frame to achieve the purpose of adjusting the lifting of the first joint, each joint is allowed to rotate around a single axis, and each provides 1 degree of freedom. Each leg has 3 joints, so the single-leg degree of freedom is 1x3=3.

[0006] Preferably, the second driving assembly comprises a second cylinder, the bottom end of the second cylinder is connected with the inner side of the first joint, the driving end of the second cylinder is connected with a first supporting sleeve, the first adjusting wheel is connected with the inner side of the supporting sleeve, the second joint can cooperate with the second cylinder and the supporting sleeve to adjust the lifting of the second joint, the robot has six legs, and the total degree of freedom of the legs is 6*3=18.

[0007] Preferably, the third driving assembly comprises a second joint, the second joint is arranged on one side of the first adjusting wheel, the second joint is internally provided with a second driver, one end of the second driver is connected with the outer surface of the first adjusting wheel, and the second joint can cooperate with the second driver and the first adjusting wheel to support the second joint.

[0008] Preferably, the other end of the second driver is provided with a second supporting sleeve, the inner side of the second supporting sleeve is connected with a second adjusting wheel, and the second supporting sleeve can cooperate with the second driver to adjust the second adjusting wheel.

[0009] Preferably, the outer surface of the second adjusting wheel is provided with a third joint, the third joint is located on one side of the second supporting sleeve, and the third joint can cooperate with the second adjusting wheel to control the third joint sleeve.

[0010] Compared with the prior art, the robot has the advantages and positive effects that:

[0011] 1、In the utility model, when the worker needs to investigate the working environment, the worker starts the adaptive multi-legged robot, the driving end of the first driver adjusts the main body of the first driver, the first driver drives the first supporting frame, the first cylinder and the second supporting frame, the second supporting frame drives the control adjusting block, the control adjusting block drives the first joint, the first joint adjusts the second driving assembly and the third driving assembly, the first driver is started, the first driver pushes the connecting frame, the connecting frame drives the control adjusting block, the control adjusting block is subjected to the second supporting frame, the control adjusting block drives the first joint, when the first joint is adjusted, the second cylinder is started, the second cylinder pushes or pulls the first supporting sleeve, the first supporting sleeve drives the second driver and the second joint, the second driver drives the second adjusting wheel to drive the third joint to rotate, and the second joint is unfolded. ACCURACY

[0012] Figure 1 A three-dimensional structure schematic diagram of a self-adaptive multi-legged robot is provided in the utility model.

[0013] Figure 2 A part structure schematic diagram of a self-adaptive multi-legged robot is provided in the utility model.

[0014] Figure 3 A part structure schematic diagram of a self-adaptive multi-legged robot is provided in the utility model.

[0015] Figure 4 A top view part structure schematic diagram of a self-adaptive multi-legged robot is provided in the utility model.

[0016] Figure 5 A side view part structure schematic diagram of a self-adaptive multi-legged robot is provided in the utility model.

[0017] Legend:

[0018] 1, control host computer; 2, first driver; 3, control adjustment block; 4, second joint; 5, third joint; 6, second cylinder; 7, first cylinder; 8, probe; 9, first joint; 10, first adjustment wheel; 11, second adjustment wheel; 12, first support frame; 13, connecting frame; 14, first support sleeve; 15, second driver; 16, auxiliary rod; 17, second support frame; 18, second support sleeve. Specific implementation

[0019] Please refer to Figures 1-5 The utility model provides a technical scheme: a self-adaptive multi-legged robot, including control host computer 1, the upper surface of control host computer 1 is installed with probe 8.

[0020] The specific settings and effects of the self-adaptive multi-legged robot will be described below.

[0021] In the embodiment: the both sides of control host computer 1 are installed with first driver 2, the bottom end of first driver 2 is installed with second support frame 17, the inner side of second support frame 17 is installed with control adjustment block 3, the outer surface of control adjustment block 3 is installed with connecting frame 13, the lower surface of control host computer 1 is installed with auxiliary rod 16, the both sides of first driver 2 are installed with first support frame 12, the inner side of control adjustment block 3 is installed with first joint 9, one end of first joint 9 is installed with first adjustment wheel 10, the inner side of first support frame 12 is provided with first drive assembly, the outer surface of first joint 9 is provided with second drive assembly, and the outer surface of first adjustment wheel 10 is provided with third drive assembly.

[0022] Specifically, the first driving assembly comprises the first cylinder 7, the top end of the first cylinder 7 is connected with the inner side of the first support frame 12, the other end of the auxiliary rod 16 is connected with the outer surface of the first cylinder 7, the driving end of the first cylinder 7 is connected with the inner side of the connecting frame 13, the first cylinder 7 can cooperate with the first support frame 12, the auxiliary rod 16 and the connecting frame 13 to achieve the purpose of adjusting the lifting of the first joint 9, each joint allows rotation around a single axis, each provides 1 degree of freedom. Each leg has 3 joints, so the single leg degree of freedom is 1x3=3.

[0023] Specifically, the second driving assembly comprises the second cylinder 6, the bottom end of the second cylinder 6 is connected with the inner side of the first joint 9, the driving end of the second cylinder 6 is connected with the first supporting sleeve 14, and the first adjusting wheel 10 is connected with the inner side of the supporting sleeve.

[0024] In the embodiment, the second joint 4 can cooperate with the second cylinder 6 and the supporting sleeve to achieve the purpose of adjusting the lifting of the second joint 4, the robot has 6 legs, and the total degree of freedom of the legs is 6x3=18. These degrees of freedom enable the robot to flexibly adjust the posture of each leg, realize forward movement, backward movement, turning and complex terrain adaptation and the like.

[0025] In the embodiment, the third driving assembly comprises the second joint 4, the second joint 4 is arranged on one side of the first adjusting wheel 10, the second joint 4 is internally connected with the second driver 15, one end of the second driver 15 is connected with the outer surface of the first adjusting wheel 10, and the second joint 4 can cooperate with the second driver 15 and the first adjusting wheel 10 to achieve the purpose of supporting the second joint 4.

[0026] Specifically, the other end of the second driver 15 is connected with the second supporting sleeve 18, the inner side of the second supporting sleeve 18 is connected with the second adjusting wheel 11, and the second supporting sleeve 18 can cooperate with the second driver 15 to achieve the purpose of adjusting the second adjusting wheel 11.

[0027] In the embodiment, the outer surface of the second adjusting wheel 11 is connected with the third joint 5, and the third joint 5 is located on one side of the second supporting sleeve 18.

[0028] In the embodiment, the third joint 5 can cooperate with the second adjusting wheel 11 to achieve the purpose of controlling the third joint 5.

[0029] Working principle: through the setting adaptive multi-legged robot, when the worker needs to investigate the working environment, the worker starts the adaptive multi-legged robot, the driving end of the first driver 2 adjusts the main body of the first driver 2, the first driver 2 drives the first support frame 12, the first cylinder 7, the second support frame 17, the second support frame 17 drives the control adjusting block 3, the control adjusting block 3 drives the first joint 9, the first joint 9 adjusts the second drive assembly and the third drive assembly, starts the first driver 2, the first driver 2 pushes the connecting frame 13, the connecting frame 13 drives the control adjusting block 3, the control adjusting block 3 is subjected to the second support frame 17, the control adjusting block 3 drives the first joint 9, when the first joint 9 is adjusted, the second cylinder 6 is started, the second cylinder 6 pushes or pulls the first support sleeve 14, the first support sleeve 14 drives the second driver 15 and the second joint 4, the second driver 15 drives the second adjusting wheel 11 to drive the third joint 5 to rotate, the second joint 4 is unfolded, through the setting adaptive multi-legged robot, through the reasonable design and multi-degree-of-freedom combination of joints, the six-legged spider robot can imitate the flexible gait of spiders, adapt to diversified working environment, and execute tasks such as reconnaissance and detection.

Claims

1. An adaptive multi-legged robot comprising a control host (1), an upper surface of the control host (1) is provided with a probe (8), characterized in that: The control host (1) is provided with a first driver (2) on both sides, the bottom end of the first driver (2) is provided with a second support frame (17), the inner side of the second support frame (17) is provided with a control adjusting block (3), the outer surface of the control adjusting block (3) is provided with a connecting frame (13), the lower surface of the control host (1) is provided with an auxiliary rod (16), the two sides of the first driver (2) are provided with a first support frame (12), the inner side of the control adjusting block (3) is provided with a first joint (9), one end of the first joint (9) is provided with a first adjusting wheel (10), the inner side of the first support frame (12) is provided with a first driving assembly, the outer surface of the first joint (9) is provided with a second driving assembly, and the outer surface of the first adjusting wheel (10) is provided with a third driving assembly.

2. The self-adapting multi-legged robot according to claim 1, wherein: The first driving assembly comprises a first cylinder (7), the top end of the first cylinder (7) is connected with the inner side of the first support frame (12), the other end of the auxiliary rod (16) is connected with the outer surface of the first cylinder (7), and the driving end of the first cylinder (7) is connected with the inner side of the connecting frame (13).

3. The self-adapting multi-legged robot according to claim 1, wherein: The second driving assembly comprises a second cylinder (6), the bottom end of the second cylinder (6) is connected with the inner side of the first joint (9), the driving end of the second cylinder (6) is provided with a first support sleeve (14), and the first adjusting wheel (10) is connected with the inner side of the support sleeve.

4. The self-adapting multi-legged robot according to claim 1, wherein: The third driving assembly comprises a second joint (4), which is arranged on one side of the first adjusting wheel (10), the second joint (4) is provided with a second driver (15) in the inside, one end of the second driver (15) is connected with the outer surface of the first adjusting wheel (10).

5. The self-adapting multi-legged robot according to claim 4, wherein: The other end of the second driver (15) is provided with a second support sleeve (18), and the inner side of the second support sleeve (18) is provided with a second adjusting wheel (11).

6. The self-adapting multi-legged robot according to claim 5, wherein: The outer surface of the second adjusting wheel (11) is provided with a third joint (5), and the third joint (5) is located on one side of the second support sleeve (18).

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