CN104444418A - Novel eighteen-degree-of-freedom robot with bucket - Google Patents

Novel eighteen-degree-of-freedom robot with bucket Download PDF

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Publication number
CN104444418A
CN104444418A CN201410625528.8A CN201410625528A CN104444418A CN 104444418 A CN104444418 A CN 104444418A CN 201410625528 A CN201410625528 A CN 201410625528A CN 104444418 A CN104444418 A CN 104444418A
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China
Prior art keywords
leg
rod member
revolute pair
branched structure
freedom
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CN201410625528.8A
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Chinese (zh)
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CN104444418B (en
Inventor
高峰
陈先宝
金振林
杜惠
潘阳
赵一楠
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Shanghai Jiaotong University
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Shanghai Jiaotong University
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G65/00Loading or unloading
    • B65G65/02Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads
    • B65G65/04Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with pick-up shovels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid

Abstract

The invention provides a novel eighteen-degree-of-freedom robot with a bucket. Each mechanical leg is independently controlled through a driving system. A three-branch-chain parallel mechanism is adopted in each driving system, and each first branch-chain structure comprises a push rod a and a second rod piece a, wherein the push rod a is connected with a main body through a nut and a lead screw, the second rod piece a is connected with the push rod a through a hooke joint and connected with the corresponding mechanical leg through a spherical hinge, and a triangular platform is fixedly connected to the second rod piece a. Each second branch-chain structure and each third branch-chain structure comprise push rods b and second rod pieces b, wherein the push rods b are connected with the main body through nuts and lead screws, and the second rod pieces b are connected with the push rods b through hooke joints and connected with the correspondingly triangular platforms through spherical hinges. The novel eighteen-degree-of-freedom robot is a six-degree-of-freedom redundant drive moving platform, and is high in bearing capability, stale in walking, small in energy consumption, simple in operation system and easy to operate.

Description

Novel ten eight degrees of freedom band scraper bowl robots
Technical field
The present invention relates to walking robot technical field, specifically a kind of novel ten eight degrees of freedom band scraper bowl robots.
Background technology
Legged type robot is widely used in complicated rugged terrain environment, and the salvage work after such as earthquake often needs legged type robot to go.From wheel caterpillar type robot different, legged type robot only needs several independently foothold in motion process.When performing rescue task, robot needs to install detecting sensor (such as camera, laser and sonar) and monitors the environment of surrounding, also needs fitting operation instrument to come such as to remove obstacles, opens the door, finds and keep in repair the work such as the pipeline of leakage.In these cases, heavy burden ability is important performance figure.Dissimilar legged type robot is all variant in the number of leg, mechanism design, degree of freedom, weight, size, heavy burden, speed, stability, control algorithm and application scenario.Legged type robot often appears at complicated rescue environment, and the static gait of general use is to obtain larger stability.The sufficient number of robot is more, and stability will be better, but structure and control will more sophisticated.Therefore, a kind of polypody is provided, stablizes and control simple, easy-to-operate robot, become problem demanding prompt solution in current industry.
Summary of the invention
The present invention is directed to above shortcomings in prior art, provide a kind of novel ten eight degrees of freedom band scraper bowl robots, this robot foot number is many, good stability, has simultaneously and controls simple, easy-to-operate feature.
The present invention is achieved by the following technical solutions.
A kind of novel ten eight degrees of freedom band scraper bowl robots, comprise health main body and divide two groups of many pedipulators being on average arranged on health main body both sides; Wherein, each pedipulator is respectively by an independent controlled motion of drive system; Each drive system all adopts three side chain parallel institutions, and described three side chain parallel institutions are connected in health main body, and is connected with corresponding pedipulator by ball pivot; Described three articles of side chain parallel institutions comprise the first branched structure, the second branched structure and the 3rd branched structure, wherein, first branched structure is positioned at the outside of three side chain parallel institutions, comprise push rod a and the second rod member a, described push rod a is connected with health main body with leading screw by nut, one end of described second rod member a is connected with push rod a by Hooke's hinge, and the other end of the second rod member a is connected with corresponding pedipulator by ball pivot; Described second rod member a is connected a triangle platform; Described second branched structure and the 3rd branched structure include push rod b and the second rod member b, and wherein, push rod b is connected with health main body with leading screw by nut; One end of described second rod member b is connected with push rod b by Hooke's hinge, and the other end of the second rod member b is connected with triangle platform by ball pivot.
Preferably, three articles of leading screws of described first branched structure, the second branched structure and the 3rd branched structure are parallel to each other, and vertically place, and three leading screw center-point projections are in the horizontal plane linked to be equicrural triangle; Meanwhile, the first pivot center of three Hooke's hinges on the first branched structure, the second branched structure and the 3rd branched structure is all parallel to the base of equicrural triangle, and the second pivot center and first pivot center of three Hooke's hinges intersect vertically.
Preferably, the length of three push rods and three the second rod members is incomplete same.
Preferably, health main body comprises frame and scraper bowl, and described frame and scraper bowl are fixed together; Described frame is fitfull rectangular configuration, and described mechanical body is six, and six pedipulators divide two groups to be on average arranged in frame; Wherein, in three pedipulators of the same side, the installation site being positioned at middle pedipulator outwards offsets a segment distance compared to the installation site of two pedipulators before and after it; Under the cooperation of six pedipulators, health main body has D translation and Three dimensional rotation six-freedom degree.
Preferably, each article pedipulator includes: electric machine support, sleeve, motor, belt, belt pulley, leg attaching parts, leg control stalk, leg first rod member, leg second rod member and leg the 3rd rod member, wherein, described motor is fixed on electric machine support, motor is by belt drive belt pulley, belt pulley drives the screw turns of drive system, and leading screw drives the nut of drive system to do straight-line motion; The triangular platform of described drive system is connected by ball pivot with leg control stalk; Described leg attaching parts is connected by the first revolute pair with electric machine support, and described leg first rod member is connected by the second revolute pair with leg attaching parts; Leg first rod member is connected by the 3rd revolute pair with leg control stalk; Leg first rod member is connected by the 4th revolute pair with leg second rod member; Described leg is controlled rod member and is connected by the 5th revolute pair with leg the 3rd rod member; Described leg second rod member is connected by the 6th revolute pair with leg the 3rd rod member.
Preferably, first revolute pair direction and horizontal plane, second revolute pair is parallel to each other to the axis direction of the 6th revolute pair, and it is vertical with the sagittal plane of pedipulator with the first revolute pair direction respectively, described three side chain parallel institutions are two-freedom plane parallel mechanisms, wherein, the plane-parallel type structure of two-freedom is that pedipulator provides sagittal plane motion; First revolute pair is that pedipulator provides side-sway motion.
Preferably, described health main body also comprises protective cover, and the outside with drive system installed by described protective cover, and is connected in health main body.
Compared with prior art, the present invention has following beneficial effect:
1, drive leg spatial three-dimensional movement by three side chain parallel institutions, drive system is fixing in the body, is not only convenient to protection, and farthest can reduces the rotor inertia of leg.Drive system adopts moving sets as driving input.The advantage of this structure is, can substitute retarder by nut screw, effectively reduces driving cost but not affecting driveability.For drive system, because leg end-to-end distance is away from health, so first motion equivalence should be delivered to the nearer place of distance fuselage.Such shank is relative to the motion of fuselage, and just the equivalence rod member that become drive system to control is relative to the motion of health.Now the motion characteristics of leg does not reduce.Only need add ball pivot to certain point (control point) on this rod member and carry out accurate position control to make mechanism by Complete Bind.
2, leg carries out corresponding motion transmission by parallel-crank mechanism, can meet the requirement of speed and carrying two aspects.
3, health main body is scraper bowl, can load weight, and under the cooperation of six legs, health has D translation and Three dimensional rotation six-freedom degree, can complete the action scooping up article.Under unmanned environment, can load, carrying, unloads weight.
4, the main body of health also can by scraper bowl with being changed to different component parts, such as welding gun and clamping device.Because health has had 6, space degree of freedom, under the routing motion of six legs, can be good at path of welding planning.And after replacing scraper bowl, the clamping device of single-degree-of-freedom or two-freedom can be assembled in the space that the health of robot is very large.
5, robot six legs are evenly distributed in health both sides, and robot entirety is tall and thin, can by comparatively narrow passage.Robot can be walked to any direction, adapts to various environment.
6, the present invention is the mobile platform of a six degree of freedom redundant drive collection walking, operation one, and load-carrying capacity is strong, and walking is stable, and energy consumption is little, and control system is simple, easy to operate.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is integral structure schematic diagram of the present invention, and wherein, (a), for having protective roof structure, (b) be not for have protective roof structure;
Fig. 2 is the structural representation of any one group of drive system and leg in the present invention, wherein, (a) for detail view (b) be integral structure schematic diagram;
In figure: 1 is protective cover, 2 is frame, 3 is scraper bowl, 4 is Article 1 leg, 5 is Article 2 leg, 6 is third leg, 7 is Article 4 leg, 8 is Article 5 leg, 9 is Article 6 leg, 10 is electric machine support, 11 is sleeve, 12 is servomotor, 13 is nut, 14 is leading screw, 15 is belt pulley, 16 is push rod, 17 is drive system second rod member, 18 is triangle platform, 19 is leg control stalk, 20 is leg first rod member, 21 is leg second rod member (pin), 22 is leg the 3rd rod member, 23 is leg attaching parts, 24 is belt.
Detailed description of the invention
Below embodiments of the invention are elaborated: the present embodiment is implemented under premised on technical solution of the present invention, give detailed embodiment and concrete operating process.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.
Present embodiments provide a kind of novel ten eight degrees of freedom band scraper bowl robots, comprise health main body and divide two groups of many pedipulators being on average arranged on health main body both sides; Wherein, each pedipulator is respectively by an independent controlled motion of drive system; Each drive system all adopts three side chain parallel institutions, and described three side chain parallel institutions are connected in health main body, and is connected with corresponding pedipulator by ball pivot; Described three articles of side chain parallel institutions comprise the first branched structure, the second branched structure and the 3rd branched structure, wherein, first branched structure is positioned at the outside of three side chain parallel institutions, comprise push rod a and the second rod member a, described push rod a is connected with health main body with leading screw by nut, one end of described second rod member a is connected with push rod a by Hooke's hinge, and the other end of the second rod member a is connected with corresponding pedipulator by ball pivot; Described second rod member a is connected a triangle platform; Described second branched structure and the 3rd branched structure include push rod b and the second rod member b, and wherein, push rod b is connected with health main body with leading screw by nut; One end of described second rod member b is connected with push rod b by Hooke's hinge, and the other end of the second rod member b is connected with triangle platform by ball pivot.
Further, three articles of leading screws of described first branched structure, the second branched structure and the 3rd branched structure are parallel to each other, and vertically place, and three leading screw center-point projections are in the horizontal plane linked to be equicrural triangle; Meanwhile, the first pivot center of three Hooke's hinges on the first branched structure, the second branched structure and the 3rd branched structure is all parallel to the base of equicrural triangle, and the second pivot center and first pivot center of three Hooke's hinges intersect vertically.
Further, the length of three push rods and three the second rod members is incomplete same.
Further, health main body comprises frame and scraper bowl, and described frame and scraper bowl are fixed together; Described frame is fitfull rectangular configuration, and described mechanical body is six, and six pedipulators divide two groups to be on average arranged in frame; Wherein, in three pedipulators of the same side, the installation site being positioned at middle pedipulator outwards offsets a segment distance compared to the installation site of two pedipulators before and after it; Under the cooperation of six pedipulators, health main body has D translation and Three dimensional rotation six-freedom degree.
Further, each article pedipulator includes: electric machine support, sleeve, motor, belt, belt pulley, leg attaching parts, leg control stalk, leg first rod member, leg second rod member and leg the 3rd rod member, wherein, described motor is fixed on electric machine support, motor is by belt drive belt pulley, belt pulley drives the screw turns of drive system, and leading screw drives the nut of drive system to do straight-line motion; The triangular platform of described drive system is connected by ball pivot with leg control stalk; Described leg attaching parts is connected by the first revolute pair with electric machine support, and described leg first rod member is connected by the second revolute pair with leg attaching parts; Leg first rod member is connected by the 3rd revolute pair with leg control stalk; Leg first rod member is connected by the 4th revolute pair with leg second rod member; Described leg is controlled rod member and is connected by the 5th revolute pair with leg the 3rd rod member; Described leg second rod member is connected by the 6th revolute pair with leg the 3rd rod member.
Further, first revolute pair direction and horizontal plane, second revolute pair is parallel to each other to the axis direction of the 6th revolute pair, and it is vertical with the sagittal plane of pedipulator with the first revolute pair direction respectively, described three side chain parallel institutions are two-freedom plane parallel mechanisms, wherein, the plane-parallel type structure of two-freedom is that pedipulator provides sagittal plane motion; First revolute pair is that pedipulator provides side-sway motion.
Further, also comprise protective cover, the outside with drive system installed by described protective cover, and is connected in health main body.
Below in conjunction with accompanying drawing, the present embodiment is further described.
Please refer to Fig. 1 (a), (b) and Fig. 2 (a), (b).
As shown in Fig. 1 (a) He (b), the present embodiment comprises: protective cover 1, frame 2, scraper bowl 3, Article 1 leg are to Article 6 leg 4-9.Wherein, two protective covers 1, frame 2, scraper bowls 3 also have the electric machine support 10 (totally six) in Fig. 2 (a) to be fixed together, and 3 groups of drive systems protected by protective cover 1 simultaneously.Article 1, leg 4, Article 2 leg 5, third leg 6 are arranged on left side of body; Article 4 leg 7, Article 5 leg 8, Article 6 leg 9 are arranged on right side of body; Article 1, leg 4 and third leg 6 installation site and body centre are apart from equal, Article 2 leg 5 relatively Article 1 leg 4 and third leg 6 installation site distance body centre farther.
The mechanism of six described legs is identical, and respective drive system is also identical.
As shown in Fig. 2 (a) He (b), Article 1 leg 4 comprises: electric machine support 10, sleeve 11, motor 12, belt pulley 15, leg control stalk 19, leg first rod member 20, leg second rod member 21, leg the 3rd rod member 22.Wherein three motors 12 are fixed on electric machine support 10, and motor 12 drives belt pulley 15 by belt 24, and belt pulley 15 drives leading screw 14 to rotate, and the rotation of leading screw 14 drives nut 13 to do straight-line motion, and nut 13 drives push rod 16 to do straight-line motion.Article three, leading screw 14 direction is vertical, and parallel to each other, the projection in the horizontal plane of leading screw 14 center-point can connect into an equicrural triangle.Push rod 16 is connected by Hooke's hinge with drive system second rod member 17, and note, the length of three push rods 16 and three drive system second rod members 17 is incomplete same.Triangular platform 18 and drive system second rod member 17 be arranged on the push rod of outside are fixed together, and all the other two drive system second rod members 17 are connected by ball pivot with triangular platform 18.Triangular platform 18 and leg control stalk 19 are also be connected by ball pivot.Leg attaching parts 23 is connected by the first revolute pair with electric machine support 10, and the axis direction of the first revolute pair is vertical.Leg first rod member 20 and leg attaching parts 23 are by the second revolute pair at A place; Be connected by the 3rd revolute pair at B place with leg control stalk 19; Be connected by the 4th revolute pair at D place with leg second rod member 21.Leg is controlled rod member 19 and is connected by the 5th revolute pair at C place with leg the 3rd rod member 22.Leg second rod member 21 is connected by the 6th revolute pair at E place with leg the 3rd rod member 22.The revolute pair axis at above-mentioned A, B, C, D, E place is all parallel to each other, perpendicular to leg sagittal plane.
In the present embodiment:
Health main body (comprising frame, scraper bowl and protective cover), six groups of drive systems and six pedipulators.Wherein, health base portion is a large-scale scraper bowl, can load weight, and under the cooperation of six pedipulators, health has D translation and Three dimensional rotation six-freedom degree, can complete the action scooping up article.Article six, leg divides two groups to be arranged on health both sides.Every one leg all passes through a drive system controlled motion.It is three side chain parallel institutions that drive system comprises, and three side chain parallel institutions are connected on health, are connected with leg by ball pivot.There is a branched structure different from two other side chain in three side chain parallel institutions of drive system, be made up of two parts, Part I is connected with health by nut screw, Part II is connected by Hooke's hinge with Part I, be connected with leg by ball pivot, be connected a triangle platform on the second portion.The side chain that two-strip structure is identical is also made up of two parts, and Part I is connected with health by nut screw; Part II is connected with Part I by Hooke's hinge, is connected by the triangle platform of ball pivot with side chain mentioned above.
Three side chain parallel institutions, three leading screws of described drive system are parallel, vertically place, and three orbit centre point projections in the horizontal plane can be linked to be equicrural triangle.Further, the base of all parallel above-mentioned equicrural triangle of Hooke's hinge first pivot center on three side chains, the second pivot center and first axle intersect vertically.
Described robot health is made up of frame and scraper bowl two parts, and these two parts are fixed together.Robot six legs divide two groups to be arranged in frame, the installation site of the leg in the middle of the same side compared to two legs before and after it with outside skew one segment distance.Therefore, frame is a fitfull rectangular configuration.
Described pedipulator is connected with the second revolute pair by the first revolute pair with health main body, first revolute pair direction and horizontal plane, the axis direction of the second to the six revolute pair is parallel to each other, and it is vertical with the first revolute pair direction, vertical with the sagittal plane of pedipulator, described three side chain parallel institutions are two-freedom plane parallel mechanisms, and wherein, the plane-parallel type structure of two-freedom is that pedipulator provides sagittal plane motion; First revolute pair is that pedipulator provides side-sway motion.Revolute pair is that robot leg produces side-sway motion, makes the rotation of robot hip and the mobile decoupling of leg sagittal plane parallel institution, reduces control difficulty.
Described robot, adopts moving sets as driving input.The advantage of this structure is, can substitute retarder by nut screw, effectively reduces driving cost but not affecting driveability.Therefore drive system adopts the structure of feed screw nut.Such mechanism drive section, by being difficult to the serial mechanism realizing three general connecting rods of protection, is converted into the single-point motion control being easy to protect.
Described drive-system altogether six groups, also divides two groups to be arranged on health both sides respectively, and often organize outside three drive systems and be installed with protective cover, protective cover is connected in frame, can have good protective action to electronic components such as motor wherein, actuators.
The novel operation walking integrated robot with 18 degree of freedom that the present embodiment provides, comprises health (frame, scraper bowl and protective cover), drive system and leg.Frame is made up of irregular rectangular member scraper bowl, and these two parts are bolted together as fixing parts, i.e. the health main body of robot.Article six, leg is divided into two groups and is evenly distributed on health both sides.Drive system is three side chain parallel institutions, and three side chain parallel institutions are connected on health, are connected with leg by ball pivot.There is a branched structure different from two other side chain in three side chain parallel institutions of drive system, be made up of two parts, Part I is connected with health by nut screw, Part II is connected by Hooke's hinge with Part I, be connected with leg by ball pivot, be connected a triangle platform on the second portion.The side chain that two-strip structure is identical is also made up of two parts, and Part I is connected with health by nut screw; Part II is connected with Part I by Hooke's hinge, is connected by the triangle platform of ball pivot with side chain mentioned above.Being provided with protective cover outside drive system to protect it, is fixing in the body, is not only convenient to protection, and farthest can reduces the rotor inertia of leg.The mechanism of robot six legs is identical, is a parallelogram four-bar mechanism, is connected by revolute pair with health.The three-dimensional motion of the every one leg of robot by while control-driven system three motors realize.The walking of whole robot and operation realize by controlling 18 motors simultaneously, and it is high that the present embodiment has mechanism performance, and bearing capacity is strong, and energy consumption is little, and road surface comformability is good, and control system is simple, easy-to-operate feature.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.

Claims (7)

1. novel ten eight degrees of freedom band scraper bowl robots, is characterized in that, comprise health main body and divide two groups of many pedipulators being on average arranged on health main body both sides; Wherein, each pedipulator is respectively by an independent controlled motion of drive system; Each drive system all adopts three side chain parallel institutions, and described three side chain parallel institutions are connected in health main body, and is connected with corresponding pedipulator by ball pivot; Described three articles of side chain parallel institutions comprise the first branched structure, the second branched structure and the 3rd branched structure, wherein, first branched structure is positioned at the outside of three side chain parallel institutions, comprise push rod a and the second rod member a, described push rod a is connected with health main body with leading screw by nut, one end of described second rod member a is connected with push rod a by Hooke's hinge, and the other end of the second rod member a is connected with corresponding pedipulator by ball pivot; Described second rod member a is connected a triangle platform; Described second branched structure and the 3rd branched structure include push rod b and the second rod member b, and wherein, push rod b is connected with health main body with leading screw by nut; One end of described second rod member b is connected with push rod b by Hooke's hinge, and the other end of the second rod member b is connected with triangle platform by ball pivot.
2. novel ten eight degrees of freedom band scraper bowl robots according to claim 1, it is characterized in that, three articles of leading screws of described first branched structure, the second branched structure and the 3rd branched structure are parallel to each other, and vertically place, and three leading screw center-point projections are in the horizontal plane linked to be equicrural triangle; Meanwhile, the first pivot center of three Hooke's hinges on the first branched structure, the second branched structure and the 3rd branched structure is all parallel to the base of equicrural triangle, and the second pivot center and first pivot center of three Hooke's hinges intersect vertically.
3. novel ten eight degrees of freedom band scraper bowl robots according to claim 1, it is characterized in that, the length of three push rods and three the second rod members is incomplete same.
4. novel ten eight degrees of freedom band scraper bowl robots according to claim 1, it is characterized in that, health main body comprises frame and scraper bowl, and described frame and scraper bowl are fixed together; Described frame is fitfull rectangular configuration, and described pedipulator is six, and six pedipulators divide two groups to be on average arranged in frame; Wherein, in three pedipulators of the same side, the installation site being positioned at middle pedipulator outwards offsets a segment distance compared to the installation site of two pedipulators before and after it; Under the cooperation of six pedipulators, health main body has D translation and Three dimensional rotation six-freedom degree.
5. novel ten eight degrees of freedom band scraper bowl robots according to claim 1 and 2, it is characterized in that, each article pedipulator includes: electric machine support, sleeve, motor, belt, belt pulley, leg attaching parts, leg control stalk, leg first rod member, leg second rod member and leg the 3rd rod member, wherein, described motor is fixed on electric machine support, motor is by belt drive belt pulley, and belt pulley drives the screw turns of drive system, and leading screw drives the nut of drive system to do straight-line motion; The triangular platform of described drive system is connected by ball pivot with leg control stalk; Described leg attaching parts is connected by the first revolute pair with electric machine support, and described leg first rod member is connected by the second revolute pair with leg attaching parts; Leg first rod member is connected by the 3rd revolute pair with leg control stalk; Leg first rod member is connected by the 4th revolute pair with leg second rod member; Described leg is controlled rod member and is connected by the 5th revolute pair with leg the 3rd rod member; Described leg second rod member is connected by the 6th revolute pair with leg the 3rd rod member.
6. novel ten eight degrees of freedom band scraper bowl robots according to claim 5, it is characterized in that, first revolute pair direction and horizontal plane, second revolute pair is parallel to each other to the axis direction of the 6th revolute pair, and it is vertical with the sagittal plane of pedipulator with the first revolute pair direction respectively, described three side chain parallel institutions are two-freedom plane parallel mechanisms, and wherein, the plane-parallel type structure of two-freedom is that pedipulator provides sagittal plane motion; First revolute pair is that pedipulator provides side-sway motion.
7. novel ten eight degrees of freedom band scraper bowl robots according to claim 4, it is characterized in that, described health main body also comprises protective cover, and described protective cover is installed on the outside of drive system, and is connected in frame.
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CN104925161A (en) * 2015-06-15 2015-09-23 上海交通大学 Six-leg walking robot in parallel connection driven by rotation
CN107554640A (en) * 2017-09-08 2018-01-09 燕山大学 A kind of six sufficient walkers based on four-degree-of-freedom mechanism leg
CN108247610A (en) * 2016-06-23 2018-07-06 泉州台商投资区铭源机械设备有限公司 A kind of manipulator and its method of work
CN108487447A (en) * 2016-06-23 2018-09-04 吴彬 A kind of highway ditch cleaning intelligent robot and its working method
GB2563829A (en) * 2017-06-21 2019-01-02 Tedbury Ivo Apparatus and system
CN110466641A (en) * 2019-07-09 2019-11-19 深圳市朗驰欣创科技股份有限公司 Pedipulator and robot
CN114475849A (en) * 2022-01-07 2022-05-13 燕山大学 Multi-foot walker based on three-degree-of-freedom planar parallel mechanical legs

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