# US 2019/0315419 A1 · General-purpose six-legged walking robot, and main structure thereof

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- Number: US 2019/0315419 A1
- Document ID: US20190315419A1
- Status: Published application
- Kind: A1
- Application number: 16/095,363
- Filed: 2017-04-20
- Published: 2019-10-17
- Earliest claimed: 2016-04-21
- Inventors: Tianqi SUN
- Web page: https://patentgrep.com/patent/US20190315419A1

## CPC

- B62D 57/032: with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid (B62D57/024 takes precedence)
- G05D 1/0246: {using a video camera in combination with image processing means}
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

## Abstract

A six-legged universal walking robot and main structure thereof. The main structure comprises a head portion and a machine body. A distance measuring camera device is provided within the head portion, and comprises a rotating head and a frontal face distance measuring assembly. The machine body is provided with a turntable, and the rotating head is fixed to the turntable. A driving mechanism and a main control circuit board are mounted within an internal cavity of the machine body, the driving mechanism has a rotating shaft 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 to rotate in a range of 360 degrees, a rotation range of 360 degrees can also be achieved for the distance measuring camera module without moving the body.

## Claims

### Claim 1

A machine body structure of a six-legged universal walking robot, comprising a head portion and a machine body, wherein
a distance measurement camera device is provided within the head portion, and comprises a rotating head and a frontal face distance measurement assembly mounted on the rotating head; the frontal face distance measurement assembly comprises a frontal face and an inner liner panel arranged on the inner side of the frontal face; a distance measurement camera module is mounted on the inner liner panel;
a turntable is arranged on the upper surface of the machine body; the rotating head is fastened and fixed on the turntable on which a first circuit board is arranged; the distance measurement camera module is connected with the first circuit board; the machine body has an inner cavity and a driving mechanism and a main control circuit board are mounted within the inner cavity; the driving mechanism is provided with a rotating shaft; multiple conductive sliding rings for data communication with the main control circuit board are arranged on the peripheral surface of the rotating shaft; and the driving mechanism may drive the turntable to rotate 360°.

### Claim 2 (depends on 1)

The machine body structure of the six-legged universal walking robot according to claim 1, wherein the driving mechanism is a gear driving mechanism, and comprises a driving wheel and a driven wheel which mesh with each other for transmission; the rotating shaft penetrates through the driven wheel and rotates along with the driven wheel, and the turntable is fixed with the driven wheel.

### Claim 3 (depends on 2)

The machine body structure of the six-legged universal walking robot according to claim 2, wherein the lower end of the rotating shaft is inserted into a shaft sleeve in which an electric brush matched and electrically connected with the conductive sliding rings is arranged; the electric brush is electrically connected with the main control circuit board; a lead wire electrically connected with the first circuit board is arranged in the rotating shaft; and the lower end of the lead wire is connected with the conductive sliding rings, and the upper end of the lead wire penetrates through the rotating shaft and is connected with the first circuit board.

### Claim 4 (depends on 2)

The machine body structure of the six-legged universal walking robot according to claim 2, wherein the machine body comprises a upper cover and a lower cover which are buckled with each other; the inner cavity is formed between the upper cover and the lower cover; an annular plate is arranged in the middle of the inner cavity to divide the inner cavity into an upper cavity and a lower cavity; a first mounting seat and a second mounting seat which are respectively used for mounting the driving wheel and the driven wheel are arranged on the upper surface of the annular plate; and the drive motor is mounted in the lower cavity and is coaxial with the driving wheel.

### Claim 5 (depends on 4)

The machine body structure of the six-legged universal walking robot according to claim 4, wherein the main control circuit board is mounted on the annular plate; multiple first servo motors for driving legs of the robot to rotate 180° are spaced at intervals in the inner cavity along a circumference, and are electrically connected with the main control circuit board.

### Claim 6 (depends on 4)

The machine body structure of the six-legged universal walking robot according to claim 4, wherein the upper cover and the lower cover respectively comprises a chassis and a plurality of first convex covers arranged on the periphery of the chassis along a circumference; and
a plurality of second convex covers which are connected with any of the two adjacent first convex covers is arranged between every the two adjacent first convex covers; and a mounting position for accommodating the first servo motor is formed between the two second convex covers at corresponding positions on the upper cover and the lower cover.

### Claim 7 (depends on 1)

The machine body structure of the six-legged universal walking robot according to claim 1, wherein an infrared lamp module is further arranged on the inner liner panel, and is connected with the first circuit board.

### Claim 8 (depends on 1)

The machine body structure of the six-legged universal walking robot according to claim 1, wherein an infrared sensor and a video processing module wirelessly connected with the infrared sensor are further arranged on the inner liner panel; and the video processing module is connected to the first circuit board.

### Claim 9 (depends on 1)

The machine body structure of the six-legged universal walking robot according to claim 1, wherein the front end of the rotating head upwards protrudes and is provided with a frontal face mounting seat matched with the frontal face, and the frontal face is embedded into the frontal face mounting seat.

### Claim 10 (depends on 1)

A six-legged universal walking robot, comprising the machine body structure according to claim 1, further comprising multiple leg structures which are radially symmetrically distributed around the machine body structure, wherein,
the leg structure comprises a thigh, a shank and a foot which are connected in sequence; the thigh is connected with the machine body through a hip joint and is connected with the shank through a knee joint; the shank is connected with the foot through an ankle joint; a second servo motor and a third servo motor are arranged in the shank at intervals; the second servo motor and the third servo motor are electrically connected with the main control circuit board respectively and are connected with the knee joint and the ankle joint respectively to drive the shank and the foot to rotate 180° respectively around the knee joint and the ankle joint.

### Claim 11 (depends on 10)

The six-legged universal walking robot according to claim 10, wherein the ground touch end of the foot is provided with a rubber contact with an outer curved shape; the inner side of the rubber contact is provided with a connecting column; a limit switch is arranged inside the foot and is connected to the main control circuit board; and when the foot touches the ground, the rubber contact is pressed, and the connecting column is pushed to be in contact with the limit switch to actuate the limit switch to be turned on.

### Claim 12 (depends on 11)

The six-legged universal walking robot according to claim 11, wherein a static contact block and a movable contact block are arranged on the bottom surface of the limit switch at intervals, and a columnar connecting contact is arranged on the bottom surface of the movable contact block.

### Claim 13 (depends on 12)

The six-legged universal walking robot according to claim 12, wherein the connecting column comprises a column head fitted to the inner surface of the rubber contact and an outwards extending column rod; and when the connecting column moves under the pushing of the rubber contact, the column rod touches the connecting contact to actuate the limit switch to be turned on.

### Claim 14 (depends on 10)

The six-legged universal walking robot according to claim 10, wherein the hip joint, the thigh and the knee joint are integrally formed, and a length of the thigh in a horizontal direction is smaller than a length of the hip joint and smaller than a length of the knee joint.

### Claim 15 (depends on 10)

The six-legged universal walking robot according to claim 10, wherein the ankle joint is integrally formed with the foot, and the foot is inclined at an inclination angle of 45° towards one side of the ground along a horizontal plane where the ankle joint is placed.

### Claim 16 (depends on 14)

The six-legged universal walking robot according to claim 14, wherein the hip joint is provided with a first U-shaped groove for holding the machine body; the knee joint being provided with a second U-shaped groove for holding one end of the shank; a first through hole penetrating through the shank is formed in the inner surface of the knee joint; and a first revolving shaft passes through the first through hole to hinge the knee joint to the shank.

### Claim 17 (depends on 16)

The six-legged universal walking robot according to claim 16, wherein the ankle joint is provided with a third U-shaped groove for holding the other end of the shank; a second through hole penetrating through the shank is formed in the inner surface of the ankle joint; and a second revolving shaft passes through the second through hole to hinge the ankle joint to the foot.