CN105905182A - Intelligent four-foot investigation robot - Google Patents
Intelligent four-foot investigation robot Download PDFInfo
- Publication number
- CN105905182A CN105905182A CN201610261304.2A CN201610261304A CN105905182A CN 105905182 A CN105905182 A CN 105905182A CN 201610261304 A CN201610261304 A CN 201610261304A CN 105905182 A CN105905182 A CN 105905182A
- Authority
- CN
- China
- Prior art keywords
- disc
- footed
- motor
- intelligence
- robot
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles 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
- B62D57/028—Vehicles 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 having wheels and mechanical legs
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides an intelligent four-foot investigation robot which comprises a four-foot system and a wheel type system and further comprises an upper chassis, a lower chassis, a high-definition vision back transmission device, an environment detection sensor and a head mask. Two wheels are symmetrically arranged on a vehicle frame left and right. The motion power of the wheels is provided through a motor, the motion and work conditions of the wheels are detected by the environment detection sensor in real time, the head mask and the upper chassis are fixedly connected through bolts, and the environment detection sensor and the upper chassis are fixedly connected through bolts. By the adoption of the intelligent four-foot investigation robot, a wheel type structure and a crawling structure are creatively and perfectly combined, active vibration reduction can be achieved through a motion system, and for the complex terrain and the rugged ground, motion of the four-foot investigation robot can be kept stable, and the four-foot investigation robot can move rapidly on a smooth road surface.
Description
Technical field
The present invention relates to robot field, particularly to a kind of intelligence four-footed Detecting Robot.
Background technology
Along with the progress of social development, people have increasing need for some can have in complex environment height can
By property, the convenient and extendible mobile platform of action, therefore, robot arises at the historic moment, but biped machine
The degree of freedom of device people is less, crank, it is impossible to well overcome rugged landform.Therefore, exploitation
Go out the bio-robot of natural imitation circle biological shapes and action.
The research and development of Quadruped Robot with reference to the Aranea of nature, imitates its physique structure and action model.
Comparing wheel minor robot, the degree of freedom of Quadruped Robot is flexible, and action of taking action can become cleverer
Quick, mobility is more preferable, it is possible to take action in complicated landform.But, the level land of Quadruped Robot is moved
Speed is not as good as wheel minor robot.
How the Quadruped Robot that a kind of degree of freedom is high, translational speed is fast again is provided, is the most urgently to be resolved hurrily
Problem.
Summary of the invention
The present invention proposes a kind of intelligence four-footed Detecting Robot, solve existing robot flexibility ratio limited,
In the problem that rugged complex road condition cannot investigate traveling.
The technical scheme is that and be achieved in that:
A kind of intelligence four-footed Detecting Robot, including four pedal systems and wheel systems, also include top bottom-disc and under
Chassis, high definition vision return device, environment detection sensor, face shield for head, symmetrical the setting of vehicle frame
Having two wheels, wheel is provided its power moved by motor, and by environment detection sensor real-time detection its
Motion and working condition, face shield for head is fixing with top bottom-disc employing bolt to be connected, and environment detection sensor is with upper
Chassis is bolted to connection and forms.
Alternatively, described four pedal systems are formed for the leg structure creeped by 4 groups, and control system is by steering wheel
Controller system and embedded system combination are constituted, and motor is driven controlling by motor driver.
Alternatively, the described leg structure for creeping is by steering wheel and long U support and short U holder combination
Becoming, steering wheel is formed by fixedly connecting by real axis steering wheel and imaginary axis steering wheel with long U support.
Alternatively, in described wheel systems, wheel is formed by connecting by shaft coupling with motor, motor with go to the bottom
Dish is formed by connecting by electric machine support, top bottom-disc and low bottom-disc has screwed hole, is connected by screw, electricity
Machine is connected by adopting to be screwed with low bottom-disc with electric machine support.
Alternatively, described electric machine support uses right angle section steel manufacture.
Alternatively, intelligence four-footed Detecting Robot uses light and thin type aluminium alloy frame.
The invention has the beneficial effects as follows:
Use a plurality of lower limb can realize active vibration damping with the wheeled mode combined, motor system, multiple for landform
Miscellaneous, ground is rugged, and the motion of four-footed reconnaissance robot can keep stable, and flat road surface can quickly move.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to enforcement
In example or description of the prior art, the required accompanying drawing used is briefly described, it should be apparent that, describe below
In accompanying drawing be only some embodiments of the present invention, for those of ordinary skill in the art, do not paying
On the premise of going out creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the side-looking structural representation of the present invention a kind of intelligence four-footed Detecting Robot；
Fig. 2 is the plan structure schematic diagram of the present invention a kind of intelligence four-footed Detecting Robot；
Fig. 3 is the four-footed system structure schematic diagram of the present invention a kind of intelligence four-footed Detecting Robot；
Fig. 4 is the wheel systems structural representation of the present invention a kind of intelligence four-footed Detecting Robot.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clearly
Chu, be fully described by, it is clear that described embodiment be only a part of embodiment of the present invention rather than
Whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creation
The every other embodiment obtained under property work premise, broadly falls into the scope of protection of the invention.
As it is shown in figure 1, the intelligent four-footed Detecting Robot that the present invention provides, including four pedal systems and wheeled system
System, also includes top bottom-disc 2 and low bottom-disc 4, high definition vision return device 1, environment detection sensor 3, head
Portion's face shield 12, what vehicle frame was symmetrical is provided with two wheels 6, and wheel 6 is provided it to move by motor 5
Power, and by environment detection sensor 3 real-time detection its motion and working condition, face shield for head 12 and the upper end
Dish 2 uses the fixing connection of bolt.
As in figure 2 it is shown, four pedal systems are formed for the leg structure 7 creeped by 4 groups, control system is by rudder
Machine controller system 8 and embedded system 9 combination are constituted, and motor 5 is driven by motor driver 10
Controlling, environment detection sensor 3 is bolted to connection with top bottom-disc and forms.
As it is shown on figure 3, the leg structure 7 for creeping is propped up by steering wheel 66 and long U support 33 and short U
Frame 55 combines, and steering wheel 66 is formed by fixedly connecting by real axis steering wheel and imaginary axis steering wheel with long U support 33,
Real axis steering wheel and imaginary axis steering wheel use the frivolous duralumin, hard alumin ium alloy that adds to make.
As shown in fig. 4 and fig. 2, in wheel systems, wheel 6 is formed by connecting by shaft coupling with motor 5,
Motor 5 is formed by connecting by electric machine support 77 with low bottom-disc 4, and top bottom-disc 2 and low bottom-disc 4 have screw thread
Hole, is connected by screw, and motor 5 is connected by adopting to be screwed with low bottom-disc 4 with electric machine support 77,
Electric machine support 77 uses right angle section steel manufacture.
Preferably, the intelligent four-footed Detecting Robot of the present invention uses light and thin type aluminium alloy frame, not only has
Good intensity and weight capacity, moreover it is possible to reduce deadweight on to greatest extent, reduce the heavy burdens, spry and light flexibly,
Save material simultaneously, reduce production cost.
In robot when performing investigation tasks, surrounding is detected by environment detection sensor 3, and
Detection signal is passed to embedded system 9 and carries out information processing, adjust four-footed investigation according to the information gathered
The action scheme of robot, action scheme is made up of Four-feet creeping action and wheeled action, uses four lower limb spiders
Spider structure is also furnished with two abdominal part wheels, and the bottom of every lower limb is provided with the callosity of circle so that action spirit
Living precisely, high definition vision return device 1 carries out real-time photography scanning and is back to terminal position, according to
Passback image, can be accurately positioned the target in the fields such as search and rescue task, military investigation tasks.
The intelligent four-footed Detecting Robot of the present invention is creatively by wheeled construction and the perfect knot of crawling structure
Closing, motor system can realize active vibration damping, and for a varied topography, ground is rugged, four-footed reconnaissance robot
Motion can keep stable, and flat road surface can quickly move.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all at this
Within bright spirit and principle, any modification, equivalent substitution and improvement etc. made, should be included in this
Within bright protection domain.
Claims (6)
1. an intelligent four-footed Detecting Robot, it is characterised in that include four pedal systems and wheel systems, also
Including top bottom-disc and low bottom-disc, high definition vision return device, environment detection sensor, face shield for head, vehicle frame
Symmetrical is provided with two wheels, and wheel is provided its power moved by motor, and is passed by environment detection
Sensor real-time detection its motion and working condition, face shield for head is fixing with top bottom-disc employing bolt to be connected, environment
Detection sensor is bolted to connection with top bottom-disc and forms.
2. intelligence four-footed Detecting Robot as claimed in claim 1, it is characterised in that described four pedal systems
Being formed for the leg structure creeped by 4 groups, its control system is by steering engine controller system and embedded system
Combination is constituted, and motor is driven controlling by motor driver.
3. intelligence four-footed Detecting Robot as claimed in claim 2, it is characterised in that described in be used for creeping
Leg structure formed by steering wheel and long U support and short U holder combination, steering wheel and long U support are by real
Axle steering wheel and imaginary axis steering wheel are formed by fixedly connecting.
4. intelligence four-footed Detecting Robot as claimed in claim 1, it is characterised in that described wheel systems
In, wheel is formed by connecting by shaft coupling with motor, and motor is formed by connecting by electric machine support with low bottom-disc,
Have screwed hole on top bottom-disc and low bottom-disc, connected by screw, motor by with electric machine support and low bottom-disc
Adopt and be screwed connection.
5. intelligence four-footed Detecting Robot as claimed in claim 4, it is characterised in that described electric machine support
Use right angle section steel manufacture.
6. intelligence four-footed Detecting Robot as claimed in claim 1, it is characterised in that intelligence four-footed investigation
Robot uses light and thin type aluminium alloy frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610261304.2A CN105905182A (en) | 2016-04-19 | 2016-04-19 | Intelligent four-foot investigation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610261304.2A CN105905182A (en) | 2016-04-19 | 2016-04-19 | Intelligent four-foot investigation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105905182A true CN105905182A (en) | 2016-08-31 |
Family
ID=56752856
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610261304.2A Pending CN105905182A (en) | 2016-04-19 | 2016-04-19 | Intelligent four-foot investigation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105905182A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113371090A (en) * | 2021-06-17 | 2021-09-10 | 北京交通大学 | Four-foot wheel type deformable all-directional mobile robot and control method thereof |
| CN114137962A (en) * | 2021-11-06 | 2022-03-04 | 中山嘉明电力有限公司 | Ladder climbing method and system based on quadruped robot |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6237287A (en) * | 1985-08-12 | 1987-02-18 | Mitsubishi Heavy Ind Ltd | Wheel running device |
| CN1974300A (en) * | 2006-12-01 | 2007-06-06 | 华中科技大学 | Polypod walking robot capable of being disassembled and reconstructed |
| CN201951576U (en) * | 2011-03-07 | 2011-08-31 | 中国兵器工业系统总体部 | Wheel leg combined type walking and climbing mechanism |
| CN102407893A (en) * | 2011-09-02 | 2012-04-11 | 北京林业大学 | Wheel and leg combined moving robot |
| CN102556198A (en) * | 2011-12-29 | 2012-07-11 | 浙江大学 | Six-foot walking robot |
| CN203237312U (en) * | 2013-05-06 | 2013-10-16 | 中国科学技术大学 | Combination shape-shifting mobile robot with elastic feet and wheel-type movement mechanism combined |
| CN203996532U (en) * | 2014-07-25 | 2014-12-10 | 榆林学院 | A kind of wheel leg type composite machine people |
| CN204250203U (en) * | 2014-12-01 | 2015-04-08 | 上海工程技术大学 | A kind of investigation quadruped robot |
| CN204355190U (en) * | 2014-12-25 | 2015-05-27 | 华北科技学院 | The non-wheeled detecting rescue robot in a kind of mine |
-
2016
- 2016-04-19 CN CN201610261304.2A patent/CN105905182A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6237287A (en) * | 1985-08-12 | 1987-02-18 | Mitsubishi Heavy Ind Ltd | Wheel running device |
| CN1974300A (en) * | 2006-12-01 | 2007-06-06 | 华中科技大学 | Polypod walking robot capable of being disassembled and reconstructed |
| CN201951576U (en) * | 2011-03-07 | 2011-08-31 | 中国兵器工业系统总体部 | Wheel leg combined type walking and climbing mechanism |
| CN102407893A (en) * | 2011-09-02 | 2012-04-11 | 北京林业大学 | Wheel and leg combined moving robot |
| CN102556198A (en) * | 2011-12-29 | 2012-07-11 | 浙江大学 | Six-foot walking robot |
| CN203237312U (en) * | 2013-05-06 | 2013-10-16 | 中国科学技术大学 | Combination shape-shifting mobile robot with elastic feet and wheel-type movement mechanism combined |
| CN203996532U (en) * | 2014-07-25 | 2014-12-10 | 榆林学院 | A kind of wheel leg type composite machine people |
| CN204250203U (en) * | 2014-12-01 | 2015-04-08 | 上海工程技术大学 | A kind of investigation quadruped robot |
| CN204355190U (en) * | 2014-12-25 | 2015-05-27 | 华北科技学院 | The non-wheeled detecting rescue robot in a kind of mine |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113371090A (en) * | 2021-06-17 | 2021-09-10 | 北京交通大学 | Four-foot wheel type deformable all-directional mobile robot and control method thereof |
| CN114137962A (en) * | 2021-11-06 | 2022-03-04 | 中山嘉明电力有限公司 | Ladder climbing method and system based on quadruped robot |
| CN114137962B (en) * | 2021-11-06 | 2023-12-22 | 中山嘉明电力有限公司 | Ladder stand method and system based on four-foot robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107116980B (en) | Amphibious robot and amphibious detection system | |
| CN101948011B (en) | Hexapod universal walking multifunctional moonshot robot | |
| CN106625569B (en) | Self-balancing detection robot with two-axis self-stabilizing cradle head | |
| CN205469363U (en) | Six -foot walking robot | |
| CN105172933A (en) | Spider-imitating multi-foot robot platform | |
| CN205059786U (en) | Polypody robot platform with visual system | |
| WO2020082719A1 (en) | Head, chest, and abdomen separated bionic hexapod robot | |
| CN105691483A (en) | Hexapod walking robot | |
| CN108482032B (en) | A kind of highway railway combined transport intelligent transport vehicle | |
| CN207164583U (en) | Indoor following device based on Mecanum wheel | |
| CN107053215A (en) | A kind of robot control system | |
| CN205632715U (en) | Crawler -type magnetism adsorbs wall climbing robot | |
| CN106005068A (en) | Deformable parallelogram crawler-type ground unmanned platform | |
| CN109533078B (en) | Robot foot structure based on magnetorheological technology and robot | |
| CN108098731A (en) | Intelligent mobile equipment and driving method with executing agency | |
| CN105905182A (en) | Intelligent four-foot investigation robot | |
| CN104690709A (en) | Wheel-track composite moving detection robot | |
| CN105539628A (en) | Wheeled leg type cockroach-shaped bio-robot | |
| CN108482031A (en) | A kind of railway intelligent multifunctional traveling platform | |
| Liu et al. | Design and experiment of small lifting platform in orchard | |
| CN209938770U (en) | Robot motion system for complex terrain | |
| RU122354U1 (en) | TURNING MECHANISM OF THE MODULAR articulated VEHICLE MACHINE | |
| CN208830379U (en) | A kind of farm tractor | |
| CN208291362U (en) | A kind of wheel shoe full landform exploring robot of convolution | |
| CN113370722B (en) | Three-axis unmanned vehicle coping strategy method and system based on external emergency |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160831 |