CN101508315B - Multi-limbs mobile robot - Google Patents
Multi-limbs mobile robot Download PDFInfo
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- CN101508315B CN101508315B CN2009101164031A CN200910116403A CN101508315B CN 101508315 B CN101508315 B CN 101508315B CN 2009101164031 A CN2009101164031 A CN 2009101164031A CN 200910116403 A CN200910116403 A CN 200910116403A CN 101508315 B CN101508315 B CN 101508315B
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Abstract
The invention relates to a multi-limb movable robot, which comprises a robot body, wherein the outside of the robot body is provided with limb feet used for moving the robot body; the robot body is internally provided with a detecting device, a controlling device, a power supply and a driving device; the driving device is connected with the limb feet through a transmission shaft, and the limb feet are rollers and cams; and the rollers and the cams are arranged on both sides of the body, and a power output shaft of the driving device is connected with the rollers and the cams respectively. The multi-limb movable robot has the advantages of high operation speed, simpleness, reliability, good maintenance, lower cost and applicable feasibility.
Description
Technical field
The present invention relates to a kind of mobile robot, relate in particular to a kind of mobile robot with a plurality of mobile limbs.
Background technology
In multi-limbs mobile robot, adopt bionical limb foot technology to carry out crawling exercises mostly at present, not only creeping, it is slow to move; And the mechanism that carries out crawling exercises is complicated; The creep operation trouble point is more, and reliability is lower, and maintainability is also relatively poor; Formation and manufacturing cost are all higher, and difficulty is wanted in the utilization of long-term practice property relatively.
Summary of the invention
The purpose of patent of the present invention is to overcome the deficiency of above-mentioned multi-limbs mobile robot, provides a kind of running velocity to safeguard sooner, more simple and reliable, good, cost is lower, the multi-limbs mobile robot of applicable feasibility more.
The present invention realizes through following technical scheme:
A kind of multi-limbs mobile robot; Include robot body, the robot body outside is provided with in order to the limb foot that makes it to move, and is provided with detecting device, control setup, power supply and actuating device in the robot body; Actuating device is connected with the limb foot through transmission shaft, and described limb foot is roller and cam; Roller and cam are arranged on the both sides of said body, and the power take-off shaft of actuating device is connected with cam with roller respectively.
A kind of multi-limbs mobile robot, described actuating device are reducing motor; Side near roller and cam in body is provided with roller reducing motor and cam reducing motor; The roller reducing motor is connected with roller through power take-off shaft, and the cam reducing motor is connected with cam through power take-off shaft.
A kind of multi-limbs mobile robot, described roller reducing motor and roller bonded assembly power take-off shaft are hollow power take-off shaft, said cam reducing motor and cam bonded assembly power take-off shaft are solid power take-off shaft; Solid power take-off shaft sky is enclosed within the hollow power take-off shaft; Said roller and cam are same axle center.
A kind of multi-limbs mobile robot, an above-described robot body joins end to end through universal-joint.
A kind of multi-limbs mobile robot, described cam are disc cam.
A kind of multi-limbs mobile robot; Described more than one robot body joins end to end; In junction near two robot bodies; Be provided with described roller and cam in the tail end both sides of previous robot body or the front end both sides of a back robot body, be provided with described reducing motor on the tail end of previous robot body or on the front end of a back robot body.
A kind of multi-limbs mobile robot, synchronous rolling or asynchronous rolling when a plurality of cams on described a plurality of robot bodies roll.
The present invention's mode that is movably walking is the duplex setting, and each limb foot node location of creeping is provided with roller and cam face limb foot, to adapt to different road conditions operations, raising robot carrying capacity, crossing over blockage and hill climbing ability.Because robot adopts the design of many limbs foot, and each limb foot node of creeping is roller and the setting of cam duplex, has clear superiority than the sufficient technology of previous bionical limb:
1. can directly driving, effectively improve robot running velocity and work efficiency with roller than flat road surface;
2. the operation of obstacle or uneven road conditions is being arranged, available cam-like limb foot is creeped mobile, effectively improves robot and passes through and obstacle climbing ability;
3. mechanism design is simple in structure, and cost is lower, and serviceability is high, is beneficial to maintaining;
4. actual exploitation is worth higher, and applicability is strong.Increase executive devices such as corresponding manipulator on this basis, can be used as specialized robot, be used for dangerous situations such as mine detection, explosive detection, dismounting, ignition like military robot, be used for the detection of poisonous and harmful place, carrying etc.
Description of drawings
Fig. 1 is a multi-limbs mobile robot structural representation of the present invention.
Fig. 2 is Fig. 1 lateral plan constructional drawing of the present invention.
Fig. 3 utilizes the cam asynchronous system scheme drawing of creeping for multi-limbs mobile robot of the present invention.
Fig. 4 utilizes the cam method of synchronization scheme drawing of creeping for multi-limbs mobile robot of the present invention.
Fig. 5 utilizes roller roll mode scheme drawing for multi-limbs mobile robot of the present invention.
The specific embodiment
Embodiment 1
Referring to Fig. 1,2,3,4,5; The present invention includes robot body 6; Robot body 6 outsides are provided with the roller 2 and cam 1 in order to make it to move; Be provided with detecting device 11, control setup 5, power supply 8 and reducing motor in the robot body 6, roller 2 and cam 1 are arranged on the both sides of robot body 6, and the side near roller 2 and cam 1 in robot body 6 is provided with roller reducing motor 4 and cam reducing motor 3; Roller reducing motor 4 is connected with roller 2 through hollow power take-off shaft 9, and cam reducing motor 3 is connected with cam 1 through solid power take-off shaft 10.Solid power take-off shaft 10 skies are enclosed within the hollow power take-off shaft 9; Roller 2 is same axle center with cam 1.
Through detecting device 11 detection road surface situation; Can the road surface signal of being correlated be delivered to control setup 5; Control setup 5 sends the priority of the startup initial time point of control signal corresponding and control front and back reducing motor; Can make cam 1 asynchronous rotation or rotation synchronously, mobile thereby the rotation of cam 1 drives moving ahead of robot body 6.But when running into more smooth road conditions.Detecting device 11 sends the road conditions signal and gives control setup 5, and control setup 5 sends control signal vertically erects cam 1 in advance, and roller 2 is directly contacted with the road surface, and roller 2 rotates and can drive machines human body 6 move.
An above robot body 6 joins end to end through universal-joint 7.In junction near two robot bodies 6; Be provided with roller 2 and cam 1 in the tail end both sides of previous robot body 6 or the front end both sides of a back robot body 6, be provided with reducing motor on the tail end of previous robot body 6 or on the front end of a back robot body 6.
All the other are with embodiment 1.
Claims (1)
1. multi-limbs mobile robot; Include robot body, the robot body outside is provided with in order to the limb foot that makes it to move, and is provided with detecting device, control setup, power supply and actuating device in the robot body; Actuating device is connected with the limb foot through transmission shaft, and described limb foot is roller and cam; Roller and cam are arranged on the both sides of said body, and the power take-off shaft of actuating device is connected with cam with roller respectively; Described actuating device is a reducing motor; Side near roller and cam in body is provided with roller reducing motor and cam reducing motor; The roller reducing motor is connected with roller through power take-off shaft, and the cam reducing motor is connected with cam through power take-off shaft; It is characterized in that described roller reducing motor and roller bonded assembly power take-off shaft are hollow power take-off shaft, said cam reducing motor and cam bonded assembly power take-off shaft are solid power take-off shaft; Solid power take-off shaft sky is enclosed within the hollow power take-off shaft; Said roller and cam are same axle center.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101164031A CN101508315B (en) | 2009-03-24 | 2009-03-24 | Multi-limbs mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101164031A CN101508315B (en) | 2009-03-24 | 2009-03-24 | Multi-limbs mobile robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101508315A CN101508315A (en) | 2009-08-19 |
| CN101508315B true CN101508315B (en) | 2012-07-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009101164031A Active CN101508315B (en) | 2009-03-24 | 2009-03-24 | Multi-limbs mobile robot |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110450950B (en) * | 2019-07-18 | 2020-11-24 | 杭州电子科技大学 | Bounce flapping wing robot and bounce flapping wing method thereof |
| USD1039486S1 (en) * | 2022-08-16 | 2024-08-20 | Shanshan Shu | Jump starter |
| USD1038872S1 (en) * | 2022-09-30 | 2024-08-13 | Shenzhen Shanna E-commerce Co., Ltd. | Jump starter |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1354073A (en) * | 2000-11-17 | 2002-06-19 | 三星光州电子株式会社 | Movable robot and its path regulating method |
| CN1438096A (en) * | 2003-03-11 | 2003-08-27 | 张周新 | Object walking mechanism |
| JP2005103725A (en) * | 2003-10-01 | 2005-04-21 | Niigata Tlo:Kk | Stably walking method, step controlling method and steering method of leg-type robot and apparatus therefor |
| CN201171906Y (en) * | 2007-12-19 | 2008-12-31 | 陈敏 | Walking human-shaped toy |
| CN201367055Y (en) * | 2009-03-24 | 2009-12-23 | 合肥翔瑞科技有限公司 | Multi-limb mobile robot |
-
2009
- 2009-03-24 CN CN2009101164031A patent/CN101508315B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1354073A (en) * | 2000-11-17 | 2002-06-19 | 三星光州电子株式会社 | Movable robot and its path regulating method |
| CN1438096A (en) * | 2003-03-11 | 2003-08-27 | 张周新 | Object walking mechanism |
| JP2005103725A (en) * | 2003-10-01 | 2005-04-21 | Niigata Tlo:Kk | Stably walking method, step controlling method and steering method of leg-type robot and apparatus therefor |
| CN201171906Y (en) * | 2007-12-19 | 2008-12-31 | 陈敏 | Walking human-shaped toy |
| CN201367055Y (en) * | 2009-03-24 | 2009-12-23 | 合肥翔瑞科技有限公司 | Multi-limb mobile robot |
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| Publication number | Publication date |
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| CN101508315A (en) | 2009-08-19 |
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Owner name: HEFEI XIANGRUI GARAGE AUTOMATION EQUIPMENT CO., LT Free format text: FORMER OWNER: HEFEI XIANGRUI SCIENCE AND TECHNOLOGY CO., LTD. Effective date: 20100122 |
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Effective date of registration: 20100122 Address after: Hefei City, Anhui Province, Shushan Road, New Industrial Park No. 9 Building 9 building 902 room 230000 post encoding: Applicant after: Hefei Xiangrui Garage Automation Equipment Co., Ltd. Address before: 399, Haitang Road, Hefei, Anhui Province, China: 230088 Applicant before: Hefei Shary Technology Co., Ltd. |
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Address after: 230093 room 307 and 309, building C3, Hefei Innovation Industrial Park, No. 800, Wangjiang West Road, high tech Zone, Hefei, Anhui Patentee after: HEFEI XIANGSHUI GARAGE AUTOMATION CO.,LTD. Address before: 230000 room 902, 9 / F, Chuangye building, No. 9 Daoxiang Road, Shushan new industrial park, Hefei, Anhui Patentee before: HEFEI XIANGSHUI GARAGE AUTOMATION CO.,LTD. |