CN107363446B - A kind of environmentally friendly humanoid robot for building - Google Patents
A kind of environmentally friendly humanoid robot for building Download PDFInfo
- Publication number
- CN107363446B CN107363446B CN201710611788.3A CN201710611788A CN107363446B CN 107363446 B CN107363446 B CN 107363446B CN 201710611788 A CN201710611788 A CN 201710611788A CN 107363446 B CN107363446 B CN 107363446B
- Authority
- CN
- China
- Prior art keywords
- rack
- motor
- gear
- hollow shaft
- support arm
- 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 - Fee Related
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The invention discloses a kind of environmentally friendly humanoid robots for building, including rack, the rack is equipped with four groups of walking mechanisms, walking mechanism described in four groups is respectively arranged at the front-rear position of rack two sides, the walking mechanism includes hollow shaft and solid shafting, the hollow shaft sleeve is set to solid shafting outer ring, it is connected between the hollow shaft and solid shafting by bearing, the hollow shaft outer ring is connected on the side wall of rack by bearing, the outer ring of the hollow shaft is located at shell outside first support arm that is connected, the both ends of the solid shafting grow hollow shaft, the outer ring of the solid shafting, which is located at shell outside, is equipped with the second support arm.The present invention pass through four groups of walking mechanisms, it can be achieved that robot walking, and adapt to complicated landform, each walking mechanism can be separately adjustable, cooperates, and has a variety of walking manners, and rack can have practicability by the adjusting of walking mechanism come adjustable height.
Description
Technical field
The present invention relates to robotic technology fields, particularly relate to a kind of environmentally friendly humanoid robot for building.
Background technique
The walking of the robot of the prior art can be realized in several ways, but the equal Shortcomings in flexibility
Place can not adapt to complicated landform, be easy to tumble；Existing robot lacks photographic device, therefore is unable to satisfy particular demands；
The plumb joint malfunction filled in existing robot, needs to improve.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of environmentally friendly humanoid robots for building, to solve in the prior art
Robot can not adapt to complicated landform, lack photographic device, and the technical issues of plumb joint malfunction.
In order to solve the above technical problems, the embodiment of the present invention provides a kind of environmentally friendly humanoid robot for building, including rack,
The rack is equipped with four groups of walking mechanisms, and walking mechanism described in four groups is respectively arranged at the front-rear position of rack two sides, described
Walking mechanism includes hollow shaft and solid shafting, and the hollow shaft sleeve is set to solid shafting outer ring, between the hollow shaft and solid shafting
It is connected by bearing, the hollow shaft outer ring is connected on the side wall of rack by bearing, and the outer ring of the hollow shaft is located at machine
Frame outside is connected the first support arm, and the both ends of the solid shafting grow hollow shaft, and the outer ring of the solid shafting is located at outside rack
It is equipped with the second support arm at side, first support arm and the second support arm are located at the two sides of hollow shaft axis, and described the
The outer end of one support arm is connected with third support arm by shaft, and the outer end of second support portion is connected with by shaft
4th support arm, the other end of the third support arm are connected with the other end of the 4th support arm by shaft, institute
It states and is equipped with first gear at being located on the inside of rack in hollow shaft, the side wall of the rack is equipped with first motor, first electricity
For machine by gear engaged transmission in first gear, the end that the solid shafting is located at on the inside of rack is equipped with second gear, described
The second motor is additionally provided on the side wall of rack, second motor is by gear engaged transmission in second gear；
The front of the rack is equipped with photographic device, and the photographic device includes the first u-bracket, the first U-shaped branch
5th motor is installed, the 5th motor connects the first semi-circle gear, first u-bracket by the first pinion gear in frame
Two sidewalls outer end at be rotatably connected to cross, the other both ends of the cross are connected to the two sides of the second u-bracket
At wall outer end, the 6th motor is installed in second u-bracket, the 6th motor passes through the second pinion gear connection the second half
Knucle-gear, first semi-circle gear and the second semi-circle gear are respectively arranged in the two sides of cross, and the two axis perpendicular；
Motion cameras is also equipped in second u-bracket；
The rear of the rack is equipped with manipulator, and the manipulator includes the shell being installed in rack, in the shell
It is fixedly installed with third motor and the 4th motor, the manipulator further includes a U-shaped frame, and the both ends of the U-shaped frame are outward
Socket part is respectively extended vertically, the two sides of the shell are rotatablely connected the outside of two socket parts of the U-shaped frame by bearing
Face, described two socket part medial surfaces are rotatably connected to rotation axis by bearing, and the rotation axis is equipped with driving gear, described
The middle part of U-shaped frame is equipped with mechanical arm shaft, and the arm pivoted axis of machinery is in the same plane with U-shaped frame, the machinery
In arm shaft positioned at U-shaped frame inner end be equipped with driven gear to be meshed with the driving gear, the mechanical arm shaft
The upper outboard end positioned at U-shaped frame is equipped with L-type mechanical arm, and the outer end of the L-type mechanical arm is equipped with plumb joint, goes back on the socket part
Equipped with the first belt pulley, the third motor is transmitted in the first belt pulley by belt, and the second skin is additionally provided in the rotation axis
Belt wheel, the 4th motor are transmitted in the second belt pulley by belt.
The advantageous effects of the above technical solutions of the present invention are as follows:
In above scheme, the present invention pass through four groups of walking mechanisms, it can be achieved that robot walking, and adapt to intricately
Shape, each walking mechanism can be separately adjustable, cooperate, and have a variety of walking manners, and rack can pass through the adjusting of walking mechanism
Carry out adjustable height, there is practicability；Due to be equipped with can flexible rotating manipulator be used for weld job, have practicability.
Detailed description of the invention
Fig. 1 is perspective view of the invention.
Fig. 2 is the perspective view of walking mechanism of the invention.
Fig. 3 is the schematic diagram of the touchdown point of walking mechanism of the invention.
Variation schematic diagram one when Fig. 4 is the walking of walking mechanism of the invention.
Variation schematic diagram two when Fig. 5 is the walking of walking mechanism of the invention.
Variation schematic diagram three when Fig. 6 is the walking of walking mechanism of the invention.
Fig. 7 is the variation schematic diagram of walking mechanism of the invention when adjusting for bracket height.
Fig. 8 is the structure chart of photographic device of the invention.
Fig. 9 is the structure chart of manipulator of the invention.
Figure 10 is the part-structure figure one of manipulator of the invention.
Figure 11 is the part-structure figure two of manipulator of the invention.
Figure 12 is the part-structure figure three of manipulator of the invention.
Specific embodiment
To keep the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.
For convenience of description, before left direction is in Fig. 1, after right direction is.
As shown in Figures 1 to 6, the embodiment of the present invention provides a kind of environmentally friendly humanoid robot for building, including horizontally disposed
Rack 1, the rack 1 are equipped with four groups of walking mechanisms 2, and walking mechanism 2 described in four groups is respectively arranged on the anteroposterior position of 1 two sides of rack
Place is set, position is respectively front left side, forward right side, left rear side, the right lateral side of rack 1, is similar to automobile four-wheel installation site, described
Walking mechanism 2 includes hollow shaft 21 and solid shafting 22, and the hollow shaft 21 is sheathed on 22 outer ring of solid shafting, the hollow shaft 21 with
By bearing connection (not shown) between solid shafting 22, bearing is connected as the prior art, and therefore not to repeat here, is connected by bearing
Hollow shaft 21 and the coaxial arrangement of solid shafting 22, which can be achieved, can mutually relatively rotate, and be independent of each other, 21 outer ring of hollow shaft passes through axis
It holds and is connected on the side wall of rack 1, the hollow shaft 21 is horizontally disposed with solid shafting 22, and the outer ring of the hollow shaft 21 is located at machine
1 outside of frame is connected the first support arm 23, and the both ends of the solid shafting 22 grow hollow shaft 21, the outer ring position of the solid shafting 22
It is equipped with the second support arm 24 in 1 outside of rack, first support arm 23 and the second support arm 24 are located at hollow shaft 21
The outer end of the two sides of axis, first support arm 23 is connected with third support arm 25, second support portion by shaft 3
24 outer end is connected with the 4th support arm 26 by shaft 3, the other end of the third support arm 25 with described 4th
The other end of brace 26 is connected by shaft 3, is located on the inside of rack 1 in the hollow shaft 21 and is equipped with first gear 27, institute
The side wall for stating rack 1 is equipped with first motor 4, and the first motor 4 is by gear engaged transmission in first gear 27, the reality
Mandrel 22 is located at the end on the inside of rack 1 and is equipped with second gear 28, is additionally provided with the second motor 5, institute on the side wall of the rack 1
The second motor 5 is stated by gear engaged transmission in second gear 28.First support arm 23, the second support arm 24, third support arm
25, the 4th support arm 26 constitutes the walking mechanism of a quadrangle, the junction of third support arm 25 and the 4th support arm 26
For touchdown point 6 (as shown in Figure 3), therefore the end that third support arm 25 and the 4th support arm 26 are touched with ground can be made into
It is arc-shaped, keep walking mechanism more smooth when touching with ground.Video camera 7 is equipped with above the rack 1 to be used for road surface ahead
Situation is imaged.
A kind of motion mode is described below, as shown in figure 4, the initial position of walking mechanism is in figure shown in solid line position,
Four walking mechanisms 2 drive the rotation of hollow shaft 21 to drive the first support arm 23 to turn in the counterclockwise direction by first motor 4
Move to shown position, it is the movement with acceleration that first motor 4, which drives the rotation of hollow shaft 21, the second motor 5 do not rotate from
And the second support arm 24 remains stationary, therefore touchdown point 6 is moved to the obliquely downward of rear side, therefore has given rack one forward and up
Driving force, as shown in figure 5, then first motor 4 rotate clockwise to drive the first support arm 23 turn along clockwise direction
It moves to shown position, the second motor 5 rotates counterclockwise that the second support arm 24 is driven to turn to diagram position in the counterclockwise direction
It sets, touchdown point 6 is moved to the oblique upper of front side, and touchdown point 6 is liftoff, empties rack liftoff, as shown in fig. 6, then the first electricity
Machine 4 rotates counterclockwise that the first support arm 23 is driven to turn to shown position in the counterclockwise direction, and the second motor 5 turns clockwise
It moves to drive the second support arm 24 to be rotated in the clockwise direction to shown position, touchdown point 6 is oliquely downward moved forward, landed
Point and ground face contact, are completed a period of motion, the step can make robot bound forward.Other similar walking, running
Details are not described herein for step.
By the walking mechanism for the quadrangle that 4 support arms form, as long as passing through motor control the first support arm and second
The position of support arm, the position of that touchdown point are determining, therefore can realize accurate movement.
As shown in fig. 7, walking mechanism 2 can also be by rotating clockwise first motor 4, the second motor 5 turns counterclockwise
It is dynamic, move up touchdown point 6, rear 6 touchdown point will be moved up as the starting point moved, thus may be implemented rack 1 from
Ground height adjustment.
As illustrated in figures 1 and 8, the front of the rack 1 is equipped with photographic device 7, and the photographic device 7 includes being set to rack
The first u-bracket 43 on 1, the 5th motor 44 is equipped in first u-bracket 43, and the 5th motor 44 passes through first
Pinion gear 45 connects the first semi-circle gear 46, is rotatably connected to cross at the two sidewalls outer end of first u-bracket 43
47, the other both ends of the cross 47 are connected at the two sidewalls outer end of the second u-bracket 48, second u-bracket 48
6th motor 49 is inside installed, the 6th motor 49 connects the second semi-circle gear 51 by the second pinion gear 50, and described first
Semi-circle gear 46 and the second semi-circle gear 51 are respectively arranged in the two sides of cross 47, and the two axis perpendicular；2nd U
Motion cameras 52 is also equipped on type bracket 48.
As shown in Fig. 1, Fig. 9 to Figure 12, the rear of the rack 1 is equipped with manipulator 8, and the manipulator 8 includes being installed on
Shell 81 in rack 1 is fixedly installed with third motor 82 and the 4th motor 83 in the shell 81, and the manipulator 8 also wraps
A U-shaped frame 84 is included, the both ends of the U-shaped frame 84 have respectively extended vertically socket part 841 outward, and the two sides of the shell 81 are logical
The lateral surface that bearing is rotatablely connected two socket parts 841 of the U-shaped frame 84 is crossed, described two 841 medial surfaces of socket part pass through
Bearing is rotatably connected to rotation axis 85, and the rotation axis 85 is equipped with driving gear 86, and the middle part of the U-shaped frame 84 is equipped with machinery
Arm shaft 87, the axis of the mechanical arm shaft 87 are in the same plane with U-shaped frame 84, are located in the mechanical arm shaft 87
The inner end of U-shaped frame 84 is equipped with driven gear 88 to be meshed with the driving gear 86, and the mechanical arm shaft 87 is upper
It is equipped with L-type mechanical arm 89 in the outboard end of U-shaped frame 84, the outer end of the L-type mechanical arm 89 is equipped with plumb joint 90, the socket part
The first belt pulley 91 is additionally provided on 841, the third motor 82 is transmitted in the first belt pulley 91, the rotation axis 85 by belt
On be additionally provided with the second belt pulley 92, the 4th motor 83 is transmitted in the second belt pulley 92 by belt.Third motor 82 and
The output end of four motors 83 is located at phase heteropleural, in order to avoid interference.
Robot work principle is as follows: the 4th motor 83 drives driving wheel rotation, and third motor 82 remains stationary, driving tooth
86 engagement driven gear 88 of wheel rotates driven gear 88, therefore mechanical arm is rotated around mechanical arm pivoted axis；Third motor
82 drive U-shaped frame 84 to rotate, and the 4th motor 83 remains stationary, and U-shaped frame drives mechanical arm shaft to rotate around the axis of rotation axis, together
When driven gear rotated by being influenced under the pressure of fixed driving gear engagement, to make mechanical arm shaft around its own axis
Line rotates；When third motor and the 4th motor rotate synchronously, i.e., when angular speed is identical, mechanical arm shaft is only around rotation axis
Axis rotate.Therefore it is matched by third motor 82 and the 4th motor 83, it can be achieved that mechanical arm is spatially flexible
Movement.
Manipulator is installed in rack the operation, it can be achieved that freedom and flexibility, can reduce in traditional work that tool is numerous to ask
Topic has the feature of environmental protection.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, several improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (1)
1. a kind of environmentally friendly humanoid robot for building, including rack, the rack are equipped with four groups of walking mechanisms, walk described in four groups
Mechanism is respectively arranged at the front-rear position of rack two sides, which is characterized in that the walking mechanism includes hollow shaft and solid shafting, institute
Hollow shaft sleeve is stated set on solid shafting outer ring, is connected between the hollow shaft and solid shafting by bearing, the hollow shaft outer ring is logical
It crosses bearing to be connected on the side wall of rack, the outer ring of the hollow shaft is located at shell outside first support arm that is connected, the reality
The both ends of mandrel grow hollow shaft, and the outer ring of the solid shafting, which is located at shell outside, is equipped with the second support arm, and described first
Brace and the second support arm are located at the two sides of hollow shaft axis, and the outer end of first support arm is connected with by shaft
Third support arm, the outer end of second support arm are connected with the 4th support arm by shaft, the third support arm it is another
One end is connected with the other end of the 4th support arm by shaft, and place is located on the inside of rack in the hollow shaft equipped with the
One gear, the side wall of the rack are equipped with first motor, and the first motor is by gear engaged transmission in first gear, institute
It states the end that solid shafting is located at on the inside of rack and is equipped with second gear, be additionally provided with the second motor on the side wall of the rack, it is described
Second motor is by gear engaged transmission in second gear；
The front of the rack is equipped with photographic device, and the photographic device includes the first u-bracket, in first u-bracket
5th motor is installed, the 5th motor connects the first semi-circle gear by the first pinion gear, and the two of first u-bracket
Cross is rotatably connected at side wall outer end, the other both ends of the cross are connected to outside the two sidewalls of the second u-bracket
At end, the 6th motor is installed in second u-bracket, the 6th motor passes through the second half knuckle-tooth of the second pinion gear connection
Wheel, first semi-circle gear and the second semi-circle gear are respectively arranged in the two sides of cross, and the two axis perpendicular；It is described
Motion cameras is also equipped in second u-bracket；
The rear of the rack is equipped with manipulator, and the manipulator includes the shell being installed in rack, fixes in the shell
Third motor and the 4th motor are installed, the manipulator further includes a U-shaped frame, and the both ends of the U-shaped frame are each outward to hang down
It directly is extended with socket part, the two sides of the shell are rotatablely connected the lateral surface of two socket parts of the U-shaped frame, institute by bearing
It states two socket part medial surfaces and rotation axis is rotatably connected to by bearing, the rotation axis is equipped with driving gear, the U-shaped frame
Middle part be equipped with mechanical arm shaft, the arm pivoted axis of machinery is in the same plane with U-shaped frame, the mechanical arm shaft
The upper inner end positioned at U-shaped frame is equipped with driven gear to be meshed with the driving gear, and U is located in the mechanical arm shaft
The outboard end of type frame is equipped with L-type mechanical arm, and the outer end of the L-type mechanical arm is equipped with plumb joint, and the is additionally provided on the socket part
One belt pulley, the third motor are transmitted in the first belt pulley by belt, and the second belt pulley, institute are additionally provided in the rotation axis
It states the 4th motor and the second belt pulley is transmitted in by belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710611788.3A CN107363446B (en) | 2017-07-25 | 2017-07-25 | A kind of environmentally friendly humanoid robot for building |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710611788.3A CN107363446B (en) | 2017-07-25 | 2017-07-25 | A kind of environmentally friendly humanoid robot for building |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107363446A CN107363446A (en) | 2017-11-21 |
| CN107363446B true CN107363446B (en) | 2019-01-29 |
Family
ID=60306989
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710611788.3A Expired - Fee Related CN107363446B (en) | 2017-07-25 | 2017-07-25 | A kind of environmentally friendly humanoid robot for building |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107363446B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4527650A (en) * | 1983-03-18 | 1985-07-09 | Odetics, Inc. | Walking machine |
| CN101244729A (en) * | 2008-03-26 | 2008-08-20 | 西北工业大学 | Structure of robot simulating leg jump of kangaroo |
| CN102806951A (en) * | 2012-08-07 | 2012-12-05 | 北方工业大学 | Frog-inspired biomimetic jumping robot |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6243370A (en) * | 1985-08-22 | 1987-02-25 | Mitsubishi Heavy Ind Ltd | Control method for leg wheel type moving robot |
| CN202320570U (en) * | 2011-12-08 | 2012-07-11 | 浙江大学 | Jumping robot based on two-mass model structure |
-
2017
- 2017-07-25 CN CN201710611788.3A patent/CN107363446B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4527650A (en) * | 1983-03-18 | 1985-07-09 | Odetics, Inc. | Walking machine |
| CN101244729A (en) * | 2008-03-26 | 2008-08-20 | 西北工业大学 | Structure of robot simulating leg jump of kangaroo |
| CN102806951A (en) * | 2012-08-07 | 2012-12-05 | 北方工业大学 | Frog-inspired biomimetic jumping robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107363446A (en) | 2017-11-21 |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190419 Address after: 223800 Room 1102, Building 1, Hubin New Area Data Center, Suqian City, Jiangsu Province Patentee after: Suqian Dong ang Construction Engineering Co.,Ltd. Address before: 315700 Maolin Road 223 Danxi Street, Xiangshan County, Ningbo City, Zhejiang Province Patentee before: Dong Xinwu |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190129 |