CN202847865U - Four-footed climbing robot - Google Patents
Four-footed climbing robot Download PDFInfo
- Publication number
- CN202847865U CN202847865U CN 201220477401 CN201220477401U CN202847865U CN 202847865 U CN202847865 U CN 202847865U CN 201220477401 CN201220477401 CN 201220477401 CN 201220477401 U CN201220477401 U CN 201220477401U CN 202847865 U CN202847865 U CN 202847865U
- Authority
- CN
- China
- Prior art keywords
- steering gear
- robot
- knee
- trunk
- hip
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 230000009194 climbing Effects 0.000 title claims abstract description 40
- 210000002683 foot Anatomy 0.000 claims abstract description 29
- 210000003127 knee Anatomy 0.000 claims abstract description 25
- 210000000707 wrist Anatomy 0.000 claims abstract description 24
- 210000001624 hip Anatomy 0.000 claims abstract description 22
- 210000000245 forearm Anatomy 0.000 claims abstract description 19
- 210000000689 upper leg Anatomy 0.000 claims abstract description 16
- 210000001364 upper extremity Anatomy 0.000 claims abstract description 9
- 210000003141 lower extremity Anatomy 0.000 claims abstract description 8
- 210000004247 hand Anatomy 0.000 claims abstract description 5
- 244000309466 calf Species 0.000 claims abstract 3
- 238000009434 installation Methods 0.000 claims 4
- 210000002414 leg Anatomy 0.000 claims 1
- 210000000323 shoulder joint Anatomy 0.000 abstract description 9
- 210000000629 knee joint Anatomy 0.000 abstract description 6
- 241001465754 Metazoa Species 0.000 abstract description 4
- 230000005484 gravity Effects 0.000 abstract description 3
- 230000007246 mechanism Effects 0.000 abstract description 3
- 210000002310 elbow joint Anatomy 0.000 abstract 1
- 238000005265 energy consumption Methods 0.000 abstract 1
- 210000004394 hip joint Anatomy 0.000 abstract 1
- 230000003993 interaction Effects 0.000 abstract 1
- 210000003857 wrist joint Anatomy 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000002493 climbing effect Effects 0.000 description 2
- 241000607479 Yersinia pestis Species 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 210000001699 lower leg Anatomy 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000001141 propulsive effect Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Images
Landscapes
- Toys (AREA)
Abstract
本实用新型涉及一种四足攀爬机器人,包括躯干、上肢、下肢、手部和足部，肩部舵机位于两躯干侧板上部，肘部舵机通过后臂与肩部舵机连接；腕部舵机位于手部和前臂之间；髋部舵机位于两躯干侧板下部的内侧，大腿位于髋部舵机和膝部舵机之间；小腿与足部和膝部舵机固连。肩部转动副在竖直平面内转动，肘部和腕部转动副在水平面内转动，髋部和膝部转动副在竖直平面内转动。通过模仿动物的体形结构及攀爬树木方式，实现机器人抱住杆体进行攀爬的结构。机器人攀爬杆体时与杆体产生倾斜角度，手部和足部与杆体间相互作用产生摩擦力，使机器人在自身重力作用下自锁在杆体上，不需其它夹紧机构，既节省能耗，又可提高机器人能量利用率。
The utility model relates to a four-legged climbing robot, which includes a trunk, upper limbs, lower limbs, hands and feet. The shoulder steering gear is located on the top of the side plates of the two trunks, and the elbow steering gear is connected to the shoulder steering gear through the rear arm; The wrist servos are located between the hands and forearms; the hip servos are located on the inside of the lower part of the torso side panels, and the thighs are located between the hip servos and knee servos; the calves are fixed to the foot and knee servos . The shoulder joint rotates in the vertical plane, the elbow and wrist joint rotate in the horizontal plane, and the hip and knee joint rotate in the vertical plane. By imitating the body structure of animals and the way of climbing trees, the structure in which the robot hugs the rod body to climb is realized. When the robot climbs the rod body, it has an inclination angle with the rod body, and the interaction between the hands and feet and the rod body generates friction, so that the robot can self-lock on the rod body under its own gravity, without other clamping mechanisms, which saves energy consumption. It can also improve the energy utilization rate of the robot.
Description
Technical field
The utility model relates to the Robotics field, specifically, relates to a kind of bionical quadruped robot with climbing ability.
Background technology
Along with the development of Robotics, the application of Robotics is increasing in the modern life.Climbing robot is one of widely used robot, and application is extensive.In civil area, high tower maintenance, environmental monitoring, trees preventing disease and pest, electric wire sets up and the aloft work such as maintenance, source for street light maintenance and replacing in, climbing robot can substitute the people and carry out this type of dangerous operation; In military domain, can be used for afield the tasks such as hidden investigation and goods and materials transport.That existing climbing robot has is telescopic, convertible, around the formula of climbing, but there is robot motion's very flexible in these climbing modes, the action radius of health each several part is less, the little and low problem of capacity usage ratio of the load of creeping.
Disclose the convertible climbing robot of a kind of intelligence among the patent of invention CN101695835A, this robot has paw, pivot arm and the flip-arm structure of clamping, uses the turn-over type climbing mode.But because the clamping paw is the active clamping mode, so the gripping power aspect that provides is provided part energy.A kind of remote-control rod-climbing rope-climbing robot has been described in patent CN101492073A, this robot has upper self-locking frame and lower self-locking frame, robot can be self-locking on the body of rod, but the propulsive effort of self-locking being to be provided by self-locking motor, is not to realize self-locking by the self gravitation effect.
Existing disclosed document, in " A Climbing Parallel Robot " paper a kind of climbing robot has been proposed, robot has a kind of Multifunctional grip device, can make robot in pipeline, outside the pipeline, the metal pylon climbs, but holding device is the active clamping mode, so need to provide extra energy to be used for clamping.
The utility model content
For fear of the deficiencies in the prior art, the problem that load is little, capacity usage ratio is low of creeping when overcoming its climbing the utility model proposes a kind of four-footed climbing robot; By body structure and the climbing trees mode of imitation sloth, the realization robot is embraced the structure that the body of rod is climbed.During the robot climbing body of rod, produce the angle of inclination according to body of rod diameter, there is interactional pressure between hand and foot and the body of rod, producing friction force is self-locking on the body of rod robot under the self gravitation effect, do not need special clamping mechanism, can save energy, improve the robot capacity usage ratio.
The technical scheme that its technical matters that solves the utility model adopts is: the four-footed climbing robot is comprised of trunk, upper limbs, lower limb, comprise trunk side plate, trunk transverse slat, hand, wrist steering wheel, forearm, ancon steering wheel, postbrachium, shoulder steering wheel, hip steering wheel, thigh, knee steering wheel, shank, foot, steering wheel cover, wedge, axle drive shaft
Described trunk side plate is two and is parallel to each other and is the arch plate, and the identical trunk transverse slat parallel equidistant of four structures and is connected with the trunk side plate is vertical between two trunk side plates; The shoulder steering wheel is positioned at two trunk side plate upper outside, is connected by steering wheel cover and wedge and trunk side plate; The ancon steering wheel is connected with the shoulder steering wheel by postbrachium; The wrist steering wheel is between hand and forearm; One end of forearm is connected with the ancon steering wheel by the steering wheel cover, and the other end and wrist steering wheel are connected; Two hip steering wheels are positioned at the inboard of trunk side plate bottom, and thigh is between hip steering wheel and knee steering wheel; The shank front end is connected with foot, and rear portion and knee steering wheel are connected; The shoulder revolute pair is rotated in perpendicular, and ancon and wrist revolute pair are rotated in horizontal surface, and hip and knee revolute pair are rotated in perpendicular;
Described postbrachium is two identical spill plates, the uniform mounting hole in end and middle part, bottom surface, and outside bottom surface is vertical the connection mutually;
Described forearm is two spill plates identical and that tilt with the side direction connecting portion, the uniform mounting hole in end and middle part, bottom surface, and outside bottom surface is fitted and connected mutually;
Described hand is two identical arc rod members, and an end of two rod members is respectively equipped with vertical connecting bore;
Described thigh is two identical spill plates, the uniform mounting hole in both ends and middle part, bottom surface, and outside bottom surface is fitted and connected mutually, and an end of thigh is connected with the axle drive shaft of hip steering wheel, and the other end is connected with the axle drive shaft of knee steering wheel;
Described shank is two spill plates that width is different, the uniform mounting hole in both ends and middle part, bottom surface, and the connection that fits of two spill plate bottom surfaces, an end and the foot of shank are connected, and the other end is connected with the knee steering wheel by the steering wheel cover;
Described foot is two identical arc rod members, and an end of two rod members is respectively equipped with vertical connecting bore.
The angle of described wedge is 8-12 °.
Described forearm two spill plate side direction angles are 75-80 °.
The beneficial effects of the utility model are: the four-footed climbing robot, comprise trunk, upper limbs, lower limb, hand and foot, and the shoulder steering wheel is positioned at two trunk side plate tops, and the ancon steering wheel is connected with the shoulder steering wheel by postbrachium; The wrist steering wheel is between hand and forearm; The hip steering wheel is positioned at the inboard of two trunk side plate bottoms, and thigh is between hip steering wheel and knee steering wheel; Shank and foot and knee steering wheel are connected.The shoulder revolute pair is rotated in perpendicular, and ancon and wrist revolute pair are rotated in horizontal surface, and hip and knee revolute pair are rotated in perpendicular.By body structure and the climbing trees mode of imitation animal, the realization robot is embraced the structure that the body of rod is climbed.When this climbing robot is embraced the body of rod, produce the inclination of certain angle according to body of rod diameter, make interactional pressure is arranged between hand and foot and the body of rod, to produce enough friction force robot can be self-locking on the body of rod under the self gravitation effect, and do not need special clamping mechanism, thereby save energy, improve the robot capacity usage ratio.
Description of drawings
Below in conjunction with drawings and embodiments a kind of four-footed climbing robot of the utility model is described in further detail.
Fig. 1 is the utility model four-footed climbing robot scheme drawing.
Fig. 2 is wrist steering wheel scheme drawing.
Fig. 3 is steering wheel nested structure scheme drawing.
Fig. 4 is wedge assembling scheme drawing.
Fig. 5 is hand and wrist part structure scheme drawing.
Fig. 6 is the rear arm structure scheme drawing.
Fig. 7 is the forearm structure scheme drawing.
Fig. 8 is the thigh structural representation.
Fig. 9 is the shank structural representation.
Figure 10 is the schematic three dimensional views of the robot climbing body of rod.
Figure 11 is the lateral plan of the robot climbing body of rod.
Among the figure:
1. hand 2. wrist steering wheels 3. forearms 4. ancon steering wheels 5. steering wheels overlap 6. postbrachiums, 7. shoulder steering wheels, 8. wedges, 9. trunk side plates, 10. trunk transverse slats, 11. hip steering wheels, 12. thighs, 13. knee steering wheels, 14. shanks, 15. foots, 16. steering wheel mounting holes, 17. axle drive shafts
The specific embodiment
Present embodiment is a kind of four-footed climbing robot, and by body structure and the climbing tree bar mode thereof of imitation animal, the realization robot is embraced the structure that the body of rod is climbed.When climbing robot on the body of rod during transfixion, fuselage can produce according to the body of rod diameter inclination of certain angle, and hand embraces the body of rod, foot is climbed and is pedaled the body of rod.Have pressure between hand and foot and the body of rod, when the angle of inclination was in appropriate scope, pressure can produce enough friction force made robot keep balance at the body of rod.Robot is self-locking on the body of rod under the self gravitation effect, realizes the action of climbing.
Consult Fig. 1-Figure 11, the utility model four-footed climbing robot comprises hand 1, wrist steering wheel 2, forearm 3, ancon steering wheel 4, steering wheel cover 5, postbrachium 6, shoulder steering wheel 7, wedge 8, trunk side plate 9, trunk transverse slat 10, hip steering wheel 11, thigh 12, knee steering wheel 13, shank 14, foot 15, steering wheel mounting hole 16, axle drive shaft 17.Two shoulder steering wheels 7 lay respectively at two trunk side plates, 9 upper outside, and are connected with wedge by steering wheel cover 5 and are connected with trunk side plate 9; Ancon steering wheel 4 is connected with shoulder steering wheel 7 by postbrachium 6; Wrist steering wheel 2 is connected 5 by forearm 3 and is connected with ancon steering wheel 4 with steering wheel; Hand 1 passes through up and down, and two stepped appearance metal sheets are connected with wrist steering wheel 2; Four trunk transverse slats 10 are between two trunk side plates 9, captive joint with trunk side plate 9 in trunk transverse slat 10 two ends; Two hip steering wheels 11 are positioned at the inboard of trunk side plate 9 bottoms, are connected with trunk side plate 9 by steering wheel cover 5; Knee steering wheel 13 is connected with hip steering wheel 11 by thigh 12; Foot 15 is connected 5 by shank 14 and is connected with knee steering wheel 13 with steering wheel.On the steering wheel cover 5 steering wheel mounting hole 16 is arranged, steering wheel is connected by steering wheel mounting hole 16 and steering wheel cover 5, and steering wheel cover 5 is installed in the steering wheel outside.Wedge 8 is that an angle is 8-12 ° metal wedge, the inclined-plane, both sides of wedge 8, and one side is close to steering wheel and is overlapped 5 bottom surfaces and overlap 5 by mounting hole and steering wheel and be connected, and another side is close to trunk side plate 9 outsides and is connected by mounting hole and trunk side plate 9.
As shown in Figure 5, two stepped appearance sheetmetals of connection hand 1 and wrist steering wheel 2 are the symmetrical up and down both sides that are installed on wrist steering wheel 2 respectively, consisted of the hand that an end is wide, an end is narrow 1 connection structure, a wide end is connected by the axle drive shaft 17 of mounting hole and wrist steering wheel 2, a narrow end is connected by mounting hole and hand 1, has consisted of the wrist revolute pair.
As shown in Figure 6, postbrachium 6 is fitted and connected mutually in the bottom surface by two identical female parts, and two female parts are connected by the mounting hole of bottom, and vertical one-tenth is cross-shaped mutually; One end of postbrachium 6 is connected with the axle drive shaft 17 of shoulder steering wheel 7, and the other end is connected with the axle drive shaft 17 of ancon steering wheel 4, consists of the revolute pair of shoulder and ancon.As shown in Figure 7, forearm 3 is fitted and connected mutually in the bottom surface by the female part of two identical inclinations, and the angle of female part bottom surface and side is 75-80 °; Two female parts are connected by the mounting hole of bottom; One end of forearm 3 is connected by the steering wheel cover 5 of mounting hole and ancon, and the steering wheel cover 5 of the other end and wrist is connected.3 one-tenth 150-160 of two upper limbs forearms ° bending.
As shown in Figure 8, thigh 12 is fitted and connected mutually in the bottom surface by two identical female parts, and two female parts are by the mounting hole captive joint of bottom; One end of thigh 12 is connected with the axle drive shaft 17 of hip steering wheel 11, and the other end is connected with the axle drive shaft 17 of knee steering wheel 13, consists of the revolute pair of hip and knee.
As shown in Figure 9, shank 14 is fitted and connected mutually in the bottom surface by two different female parts, and two female parts are connected by the mounting hole of bottom; Shank 14 an end be connected by mounting hole and foot 15, the steering wheel cover 5 of the other end by mounting hole and knee is connected.
As shown in Figure 1, the shoulder revolute pair is rotated in perpendicular, and hip and knee revolute pair are rotated in perpendicular.When upper limbs was positioned at level attitude, ancon and wrist revolute pair that ancon steering wheel 4 and wrist steering wheel 2 consist of were rotated in horizontal surface.
Referring to 10, Figure 11, two hands 1 of the utility model robot are embraced the body of rod, two foots 15 are also climbed respectively and are pedaled the body of rod, under the Action of Gravity Field of robot self, there is an anti-clockwise moment in the center of gravity of robot to the contact point of foot 15 and the body of rod; So between the hand 1 of the body of rod and robot, have pressure between the body of rod and the foot 15, the friction force that pressure produces makes robot keep balance at the body of rod, namely keeps self-locking state.Climbing robot adopts diagonal gait, and namely left upper extremity and right lower extremity move simultaneously, and right upper extremity and left lower extremity move simultaneously.The climbing process of robot and the animal sloth similar process of climbing tree when robot begins upwards to climb, is at first controlled left hand and right foot leaves the body of rod, and the left shoulder joint of robot and right knee joint are upwards rotated; Simultaneously right shoulder joint and the left knee joint of control rotate, but the right hand and left foot still be self-locking on the body of rod, thereby drive whole robot upward movement.When right shoulder joint and left kneed angular turn when identical with right kneed angle with climbing beginning front left shoulder joint, left shoulder joint also turns to the angle position identical with left knee joint with climbing beginning front right shoulder joint with right kneed angle, and left hand and right lumping weight are newly held the body of rod tightly simultaneously; It is the joint angles exchange of joint angles and right upper extremity and the left lower extremity of left upper extremity and right lower extremity.The second step of climbing process is similar to the first step, at first controls the right hand and left foot leaves the body of rod, and the right shoulder joint of robot and left knee joint are upwards rotated; Simultaneously left shoulder joint and the right knee joint of control rotate, but left hand and right foot still be self-locking on the body of rod, drive again upward movement of whole robot.One by above-mentioned climbing action, and robot only need constantly repeat to do the climbing action just can upwards climb the body of rod always.
Claims (3)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220477401 CN202847865U (en) | 2012-09-18 | 2012-09-18 | Four-footed climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220477401 CN202847865U (en) | 2012-09-18 | 2012-09-18 | Four-footed climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202847865U true CN202847865U (en) | 2013-04-03 |
Family
ID=47979089
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220477401 Expired - Lifetime CN202847865U (en) | 2012-09-18 | 2012-09-18 | Four-footed climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202847865U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102815348A (en) * | 2012-09-18 | 2012-12-12 | 西北工业大学 | Four-feet climbing robot |
| CN107010134A (en) * | 2017-03-24 | 2017-08-04 | 广西大学 | A kind of step-by-step movement becomes born of the same parents' tree-climbing machine robot mechanism |
| CN107117222A (en) * | 2017-03-24 | 2017-09-01 | 广西大学 | A kind of hydraulic-driven step-by-step movement becomes born of the same parents' robot capable of climbing trees |
| CN107117219A (en) * | 2017-03-24 | 2017-09-01 | 广西大学 | One kind become cell type servo-drive stepping climb tree scissors training robot |
| CN107140049A (en) * | 2017-03-24 | 2017-09-08 | 广西大学 | A kind of hydraulic-driven becomes cell type stepping and climbed tree monitoring sniffing robot |
| CN107150729A (en) * | 2017-03-24 | 2017-09-12 | 广西大学 | One kind automation step-by-step movement becomes born of the same parents' robot capable of climbing trees |
| CN107161233A (en) * | 2017-03-24 | 2017-09-15 | 广西大学 | A kind of combination drive becomes cell type stepping and climbed tree monitoring sniffing robot |
-
2012
- 2012-09-18 CN CN 201220477401 patent/CN202847865U/en not_active Expired - Lifetime
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102815348A (en) * | 2012-09-18 | 2012-12-12 | 西北工业大学 | Four-feet climbing robot |
| CN102815348B (en) * | 2012-09-18 | 2014-08-06 | 西北工业大学 | Four-feet climbing robot |
| CN107010134A (en) * | 2017-03-24 | 2017-08-04 | 广西大学 | A kind of step-by-step movement becomes born of the same parents' tree-climbing machine robot mechanism |
| CN107117222A (en) * | 2017-03-24 | 2017-09-01 | 广西大学 | A kind of hydraulic-driven step-by-step movement becomes born of the same parents' robot capable of climbing trees |
| CN107117219A (en) * | 2017-03-24 | 2017-09-01 | 广西大学 | One kind become cell type servo-drive stepping climb tree scissors training robot |
| CN107140049A (en) * | 2017-03-24 | 2017-09-08 | 广西大学 | A kind of hydraulic-driven becomes cell type stepping and climbed tree monitoring sniffing robot |
| CN107150729A (en) * | 2017-03-24 | 2017-09-12 | 广西大学 | One kind automation step-by-step movement becomes born of the same parents' robot capable of climbing trees |
| CN107161233A (en) * | 2017-03-24 | 2017-09-15 | 广西大学 | A kind of combination drive becomes cell type stepping and climbed tree monitoring sniffing robot |
| CN107010134B (en) * | 2017-03-24 | 2018-10-26 | 广西大学 | A kind of step-by-step movement change born of the same parents' tree-climbing machine robot mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202847865U (en) | Four-footed climbing robot | |
| CN102815348B (en) | Four-feet climbing robot | |
| CN104369790B (en) | A kind of biped robot's walking mechanism | |
| CN106585761B (en) | A kind of planar linkage formula four feet walking robot of imitative equine gait | |
| CN101353064B (en) | Ground wall transition imitation gecko robot | |
| CN104548608B (en) | A bionic kangaroo robot | |
| CN201291928Y (en) | Six-foot walking robot device | |
| CN105599822B (en) | A kind of under-actuated bipod walking robot based on flexible actuator | |
| CN106240669A (en) | Robot walking device | |
| CN111846002A (en) | Wheel-leg compound mobile robot | |
| CN107554637A (en) | A kind of six sufficient barrier-surpassing robots | |
| CN108791561A (en) | A kind of novel quadruped robot | |
| CN201140734Y (en) | A walking wheel-track compound mobile robot | |
| CN106741280B (en) | A Biped Robotic Walking Mechanism Containing Linear Joints | |
| CN201120913Y (en) | A quadruped crawling robot | |
| CN209454890U (en) | A wheeled crawling freely switching hexapod robot | |
| CN101423075A (en) | Modular six freedom-degree initiative joint type bipod walking robot | |
| CN103955217B (en) | The planing method of large-scale Trotting Gait of Quadruped Robot | |
| CN2686971Y (en) | Cam-changing three joint mechanical leg | |
| CN103419854B (en) | Multi-joint pneumatic snake-shaped robot | |
| CN1319800C (en) | Cam transition type mechanical legs having three joints | |
| CN210284435U (en) | Quadruped robot | |
| CN202715243U (en) | Walking mechanism of mechanical quadruped animal | |
| CN106943282A (en) | A kind of polypody power-assisted healing robot | |
| CN203439163U (en) | Multi-joint pneumatic snakelike robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130403 Effective date of abandoning: 20140806 |
|
| RGAV | Abandon patent right to avoid regrant |