Six-Legged Robot Head Turntable for Fast Turning and Stable Gait
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Solution Overview
Problem
Existing multi-legged robots face issues of low efficiency, high time consumption, and difficulty in maintaining stability, particularly during turning and ground contact detection, which affects their service life and operational efficiency.
Innovation Solution
A six-legged universal walking robot with a machine body structure featuring a rotating head, distance measurement camera, and a gear-driven turntable that allows 360° rotation without moving the machine body, combined with radially symmetric leg structures equipped with servo motors and limit switches for ground contact detection, enhancing stability and efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If multi-legged robot turns around by marking time, then it can change direction, but it consumes relatively long time and causes low efficiency
Solution Approach 1:
The robot's orientation control is segmented into two independent parts: the machine body and the head portion. The head portion can rotate 360 degrees independently around the machine body through a turntable mechanism, allowing the robot to change its facing direction without requiring the entire body to reposition or mark time.
Solution Approach 2:
The turning function is moved from the horizontal plane (body movement) to a vertical rotation dimension. The head portion rotates around a vertical axis via the turntable, enabling rapid directional changes in the azimuth direction without affecting the machine body's position or requiring time-consuming marking time maneuvers.
2Ease of operation
If multi-legged robot uses traditional turning method, then it can change direction, but it causes high difficulty in keeping steady
Solution Approach 1:
The robot system is divided into a stable machine body portion and a rotatable head portion. The machine body remains stationary and stable while the head portion handles all rotation and directional changes independently, preventing instability that would result from moving the entire body.
Solution Approach 2:
The turntable acts as an intermediary mechanism between the stable machine body and the rotatable head portion. It provides a stable rotating platform that decouples the stability requirements of the body from the directional change requirements of the head, allowing smooth rotation without compromising overall stability.
3Reliability
If feet do not automatically detect ground contact, then structure is simple, but working state is affected and service life is influenced if feet failing in touch with ground are not found and repaired in time
Solution Approach 1:
The limit switch mounted on each foot enables the foot to self-detect and report its ground contact status automatically. When a foot touches the ground, the limit switch is triggered and sends a signal to the control circuit board, allowing the system to monitor the working state of all feet without complex external detection systems.
Solution Approach 2:
A feedback mechanism is implemented through limit switches on each foot that provide real-time information about ground contact status to the control system. This feedback allows the robot to detect when feet are not touching the ground during walking, enabling timely identification and repair of issues to extend service life.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution enables flexible and efficient operation, including rapid turning and reliable ground contact detection, thereby improving the robot's stability, reducing time consumption, and extending its service life while maintaining low costs.
Implementation Method 1
The driving mechanism is a gear driving mechanism, and includes a driving wheel and a driven wheel which mesh with each other for transmission
Implementation Method 2
Multiple conductive sliding rings for data communication with the main control circuit board are arranged on the peripheral surface of the rotating shaft. The electric brush is electrically connected with the main control circuit board
Data Source
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AI summary
A six-legged universal walking robot and main structure thereof. The main structure comprises a head portion and a machine body (10). A distance measuring camera device is provided within the head portion, and comprises a rotating head (11) and a frontal face distance measuring assembly. The frontal face distance measuring assembly comprises a frontal face (12) and an inner liner panel (15), and a distance measuring camera module (151) is mounted on the frontal face inner liner plate (15). An upper surface of the machine body (10) is provided with a turntable (13), and the rotating head (11) is fastened and fixed to the turntable (13) provided with a first circuit board (14). A driving mechanism and a main control circuit board (40) are mounted within an internal cavity of the machine body (10), and the driving mechanism has a rotating shaft (16) provided with multiple slip rings on an outer peripheral surface thereof. When the robot needs to observe the surrounding environment, the driving mechanism can drive the turntable (13) to rotate in a range of 360°; since the distance measuring camera device is fixed to the turntable (13), a rotation range of 360° can also be achieved for the distance measuring camera module (151) and an indicator module without moving the body (10). The present invention has a simple structure and provides superior flexibility and convenience.