CN106976489A - One kind automation stepping is climbed tree monitoring sniffing robot - Google Patents

One kind automation stepping is climbed tree monitoring sniffing robot Download PDF

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Publication number
CN106976489A
CN106976489A CN201710182445.XA CN201710182445A CN106976489A CN 106976489 A CN106976489 A CN 106976489A CN 201710182445 A CN201710182445 A CN 201710182445A CN 106976489 A CN106976489 A CN 106976489A
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CN
China
Prior art keywords
pedipulator
monitoring
hydraulic cylinder
bar
tree
Prior art date
Application number
CN201710182445.XA
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Chinese (zh)
Inventor
王汝贵
袁吉伟
孙家兴
黄慕华
陈辉庆
Original Assignee
广西大学
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Application filed by 广西大学 filed Critical 广西大学
Priority to CN201710182445.XA priority Critical patent/CN106976489A/en
Publication of CN106976489A publication Critical patent/CN106976489A/en

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Classifications

    • 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
    • B62D57/024Vehicles 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 specially adapted for moving on inclined or vertical surfaces

Abstract

One kind automation stepping is climbed tree monitoring sniffing robot, including pedipulator system, sensor, monitoring detection system and frame bar assembly.When pedipulator motor is operated alone, it just can realize that complexity is climbed tree and embrace tree motion, driving is simple;Pedipulator and trunk have angle of inclination, just can be realized using the reaction force of driving force locked, and climbing tree, it is safe and reliable to embrace tree;During robot climbs tree, the free degree is changed, thus it is possible to vary hold angle tightly, realize robot flexible adaptation different-diameter trees;Animal bodies construction is simulated, makes monitoring sniffing robot flexible adaptation different shape trees of climbing tree;Multiple degrees of freedom monitoring detection system is combined with robot capable of climbing trees, and travelling performance is good, working range is big, can flexibly and easily complete field monitoring detection operations;Multiple sensor feedback parameters pass through programming Control to controller, it is possible to achieve automate monitoring detection operations of climbing tree.

Description

One kind automation stepping is climbed tree monitoring sniffing robot

Technical field

The present invention relates to Robot Design field, particularly a kind of automation stepping is climbed tree monitoring sniffing robot.

Background technology

With socio-economic development, monitoring detecting devices is in detection fire, protection property safety, maintain public order stabilization Aspect applies increasingly extensive, and tradition monitoring detecting devices needs to install erection, there are problems that wiring, power supply, Er Qieduo To be fixedly mounted, therefore work is inconvenient, and monitoring investigative range is limited, and particularly in the wild under complex environment, problem is more protruded.

The continuous improvement of robot technology level, the application of bio-robot is gradually extensive, wherein bionical robot capable of climbing trees Apply trees training, disease control, pest control, picking fruit, field detection monitoring in terms of it is also increasing, therefore Bionical robot capable of climbing trees is applied into monitoring to detect, prior art shortcoming can be overcome.

Chinese patent ZL2012103468033 discloses a kind of four-footed climbing robot, and the robot utilizes self-weight self-locking, And each holding arm installs three motors, driving is more complicated, and overall movement speed is also relatively slow, does not have applicability.

Automation is the essential condition and distinctive marks of the modernization of industry, by the sensing for measuring and feeding back various parameters Device, control system can automatically adjust the running status of machine, therefore sensor is installed in monitoring sniffing robot of climbing tree, Detection monitoring operation of climbing tree can be automatically performed.

At present, it there are no driving simple, climb tree reliable and secure, adapt to different thicknesses, shape trees, travelling performance is good, Working range is big, and the automation stepping that can be flexibly and easily monitored detection is climbed tree monitoring sniffing robot.

The content of the invention

Climbed tree monitoring sniffing robot it is an object of the invention to provide one kind automation stepping, it can overcome existing monitoring to visit The deficiency of measurement equipment, when motor is operated alone, just can realize that complexity is climbed tree and embrace tree motion, driving is simple;Pedipulator and tree It is dry to have angle of inclination, just can be realized using the reaction force of driving force it is locked, climb tree embrace tree it is safe and reliable;Robot climbs tree During, change the free degree, thus it is possible to vary hold angle tightly, realize robot flexible adaptation different-diameter trees;Simulate animal body Body is constructed, and makes monitoring sniffing robot flexible adaptation different shape trees of climbing tree;Multiple degrees of freedom monitor detection system with climbing tree Robot is combined, and travelling performance is good, working range is big, can flexibly and easily complete field monitoring detection operations;Multiple sensors Feedback parameter passes through programming Control to controller, it is possible to achieve automate monitoring detection operations of climbing tree.

The present invention reaches above-mentioned purpose by the following technical programs:One kind automation stepping is climbed tree monitoring sniffing robot, Including pedipulator system, sensor, monitoring detection system and frame bar assembly, concrete structure and annexation are:

The pedipulator system includes the first pedipulator system, the second pedipulator system, the 3rd pedipulator system and the 4th Pedipulator system, the first pedipulator system includes drive rocker, driven rocking bar, connecting rod, pedipulator motor, connection Frame, sliding sleeve, sliding sleeve driving hydraulic cylinder, pedipulator driving hydraulic cylinder, pedipulator, fixed claw, arc-shaped limit chute and rolling bearing, Drive rocker one end and rod hinge connection, the other end are fixedly connected with pedipulator motor, pedipulator motor and the first bar It is connected, and drives drive rocker to be rotated relative to the first bar, driven rocking bar one end and rod hinge connection, the other end is hinged with the first bar, Link is both connected through the hinge with connecting rod, and is connected with sliding sleeve by cylindrical pair, is also connected with pedipulator driving hydraulic cylinder, institute State sliding sleeve to be connected with sliding sleeve driving hydraulic cylinder, the pedipulator driving hydraulic cylinder is connected with pedipulator, the sliding sleeve drives hydraulic pressure Cylinder is hinged with the first bar, and the fixed claw is fixedly connected with link, is mounted with rolling bearing below the driven rocking bar, is rolled Bearing is moved in arc-shaped limit chute, and arc-shaped limit chute is fixed on below the first bar, the second pedipulator system, the 3rd machinery Leg system, the 4th pedipulator system are identical with the first pedipulator system architecture and annexation;

The sensor includes pressure sensor, PSD range sensors and velocity sensor, and the pressure sensor is fixed Pedipulator end is connected to, the PSD range sensors are fixedly connected on link, and the velocity sensor is fixedly connected on On pedipulator;

The monitoring detection system includes the first monitoring detection system and the second monitoring detection system, and first monitoring is visited Examining system includes rotation seat, expansion link, two grades of expansion links, monitoring detector, monitoring detection system first hydraulic cylinder, monitoring detections System second hydraulic cylinder and the monitoring hydraulic cylinder of detection system the 3rd, the expansion link are hinged with rotation seat, two grades of expansion link one end Slided in expansion link, the other end is hinged with monitoring detector, described monitoring detection system first hydraulic cylinder one end and rotation seat It is hinged, the other end is hinged with expansion link, described monitoring detection system second hydraulic cylinder one end is hinged with expansion link, the other end and two Level expansion link is hinged, and described monitoring hydraulic cylinder one end of detection system the 3rd is hinged with two grades of expansion links, and the other end is detected with monitoring Device is hinged, and the second monitoring detection system is identical with the first monitoring detection system structure;

The frame bar assembly include the first bar, the second bar, the 3rd bar, the 4th bar, the 5th bar, the 6th bar, the 7th bar and 8th bar, the first bar is hinged with the second bar by the first Hooke, and the second bar is connected with the 3rd bar by second hinge, the 3rd bar It is connected with the 4th bar by the motor of side link first, the 4th bar is connected with the 5th bar by third hinge, the 5th bar and Six bars are hinged by the second Hooke, and the 6th bar and the 7th bar are by the 4th hinge connection, and the 7th bar and the 8th bar pass through frame linking The motor of bar second is connected, and the 8th bar is connected with the first bar by first axle, side link the first driving hydraulic cylinder one end and First bar is hinged, and the other end is hinged with the second bar by the 3rd Hooke, side link the second driving hydraulic cylinder one end and the 6th bar It is connected, the other end is connected with the 5th bar by the 4th Hooke's hinge, and the driving hydraulic cylinder one end of side link the 3rd is hinged with the first bar, separately One end is hinged with the 8th bar, and the driving hydraulic cylinder one end of side link the 4th is hinged with the 6th bar, and the other end is hinged with the 7th bar, frame linking The driving hydraulic cylinder one end of bar the 5th is hinged with the 5th bar, and the other end is hinged with the 4th bar, the driving hydraulic cylinder one end of side link the 6th It is hinged with the second bar, the other end is hinged with the 3rd bar.

The arc-shaped limit chute circular arc corresponding angle is 105-110 °, and the pedipulator is with link setting angle 50-55°。

The present invention's has the prominent advantages that:

1. automation stepping is climbed tree, monitoring sniffing robot is during climbing tree, and pedipulator can realize two-freedom and list The transformation of the free degree, belongs to variable freedom and becomes born of the same parents' structure, with multi-functional phase change, multiple topology change, multiple degrees of freedom Variation characteristic, makes pedipulator complete the action of complexity during climbing tree.During climbing tree, require different according to gait, list is certainly By degree work when can realize that relative trunk is held tightly or loosened upwards upwards and wait motion, when two frees degree work, can make Pedipulator keeps holding tightly when robot is moved upwards, and can change holding angle, adapts to different-diameter trees.

The monitoring sniffing robot 2. automation stepping is climbed tree, driving is simple, when pedipulator motor is operated alone, just can Flexibly imitate animal to climb tree action, pedipulator can realize relative trunk by holding tightly to upwards loosening, then to holding trunk upwards Compound action, while realize that pedipulator is locked on trunk by the reaction force of driving force, monitoring detection operations peace of climbing tree It is complete reliable.

3. multivariant monitoring detecting devices is combined with robot capable of climbing trees, it is possible to achieve multi-faceted steering, avoidance, change Become center of gravity, working range is big, adapt to trees of different shapes, multiple sensor feedback parameters to controller are controlled by programming System, realization that can be flexible automates monitoring detection operations of climbing tree.

Brief description of the drawings

Fig. 1 climbs tree for automation stepping of the present invention and monitors the structural representation of sniffing robot.

Fig. 2 is view when drive rocker of the present invention is vertical with the first bar.

Fig. 3 is pedipulator of the present invention with respect to the limiting condition schematic diagram that the first bar is moved upwards.

Fig. 4 is pedipulator of the present invention with respect to the limiting condition schematic diagram that the first bar is moved downward.

Fig. 5 is the schematic diagram of end movement track when pedipulator of the present invention is climbed tree upwards.

Fig. 6 climbs tree gait schematic diagram for the climb tree first step of monitoring sniffing robot of automation stepping of the present invention.

Fig. 7 climbs tree gait schematic diagram for the climb tree second step of monitoring sniffing robot of automation stepping of the present invention.

Fig. 8 is link schematic diagram of the present invention.

Fig. 9 is arc-shaped limit chute schematic diagram of the present invention.

The representative implication of each mark in accompanying drawing:

1:First axle;2:8th bar;3:The motor of side link second;4:7th bar;5:4th hinge;6:6th Bar;7:Second Hooke's hinge;8:5th bar;9:Third hinge;10:4th bar;11:The motor of side link first;12:3rd Bar;13:Second hinge;14:Second bar;15:First Hooke's hinge;16:First bar;17:Pedipulator;18:Monitor detection system the One hydraulic cylinder;19:Monitor detection system second hydraulic cylinder;20:Monitor the hydraulic cylinder of detection system the 3rd;21:Side link first drives Hydrodynamic cylinder pressure;22:3rd Hooke's hinge;23:The driving hydraulic cylinder of side link second;24:4th Hooke's hinge;25:Side link the 3rd drives Hydrodynamic cylinder pressure;26:The driving hydraulic cylinder of side link the 4th;27:The driving hydraulic cylinder of side link the 5th;28:Side link the 6th drives liquid Cylinder pressure;29:Pedipulator driving hydraulic cylinder;30:Pedipulator motor;31:Drive rocker;32:Connecting rod;33:Link;34: Sliding sleeve;35:Driven rocking bar;36:Sliding sleeve driving hydraulic cylinder;37:Arc-shaped limit chute;38:Rolling bearing;39:Fixed claw;40: PSD range sensors;41:Velocity sensor;42:Pressure sensor;43:Rotation seat;44:Expansion link;45:Two grades of expansion links; 46:Monitoring detector;47:Trees.

Embodiment

Below in conjunction with the accompanying drawings and technical scheme is clearly and completely described embodiment, it is clear that this is only Only it is a part of embodiment of the invention, rather than whole embodiments.Based on embodiments of the present invention, art technology The every other embodiment that personnel are obtained under the premise of creative work is not made, belongs to the model that the present invention is protected Enclose.

Compares figure 1, Fig. 2, Fig. 8 and Fig. 9, automation stepping of the present invention are climbed tree monitoring sniffing robot, including machine Tool leg system, monitoring detection system, sensor and frame bar assembly, concrete structure and annexation are:

The pedipulator system includes the first pedipulator system, the second pedipulator system, the 3rd pedipulator system and the 4th Pedipulator system, the first pedipulator system includes drive rocker 31, driven rocking bar 35, connecting rod 32, pedipulator motor 30th, link 33, sliding sleeve 34, sliding sleeve driving hydraulic cylinder 36, pedipulator driving hydraulic cylinder 29, pedipulator 17, fixed claw 39, rolling Bearing 38 and arc-shaped limit chute 37, one end of drive rocker 31 are hinged with connecting rod 32, and the other end is consolidated with pedipulator motor 30 Fixed connection, pedipulator motor 30 is connected with the first bar 16, and drives drive rocker 31 to be rotated relative to the first bar 16, from shaking The one end of bar 35 is hinged with connecting rod 32, and the other end is hinged with the first bar 16, and link 33 is both connected through the hinge with connecting rod 32, and with Sliding sleeve 34 is connected by cylindrical pair, is also connected with pedipulator driving hydraulic cylinder 29, the sliding sleeve 34 and sliding sleeve driving hydraulic cylinder 36 Connection, the pedipulator driving hydraulic cylinder 29 is connected with pedipulator 17, and the sliding sleeve driving hydraulic cylinder 36 is hinged with the first bar 16, The fixed claw 39 is fixedly connected with link 33, and the driven lower section of rocking bar 35 is mounted with rolling bearing 38, rolling bearing 38 Moved in arc-shaped limit chute 37, arc-shaped limit chute 37 is fixed on the lower section of the first bar 16, the second pedipulator system, the 3rd machine Tool leg system and the 4th pedipulator system are identical with the first pedipulator system architecture and annexation;

The sensor includes pressure sensor 42, PSD range sensors 40, velocity sensor 41, the pressure sensing Device 42 is fixedly connected on each pedipulator end, and the PSD range sensors 40 are fixedly connected on each link, the speed Degree sensor 41 is fixedly connected on each pedipulator, is visited by rotation seat 43, monitoring detection system first hydraulic cylinder 18, monitoring The driving of examining system second hydraulic cylinder 19 and the monitoring hydraulic cylinder 20 of detection system the 3rd, it is possible to achieve the first saw formula training system is more The free degree flexibly monitors detected event;

The monitoring detection system includes the first monitoring detection system and the second monitoring detection system, and first monitoring is visited Examining system includes rotation seat 43, expansion link 44, two grades of expansion links 45, monitoring detector 46, monitoring detection system first hydraulic cylinders 18th, monitoring detection system second hydraulic cylinder 19, the monitoring hydraulic cylinder 20 of detection system the 3rd, the expansion link 44 are cut with scissors with rotation seat 43 Connect, two grades of one end of expansion link 45 are slided in expansion link 44, the other end is hinged with monitoring detector 46, the monitoring detection system The one end of first hydraulic cylinder 18 is hinged with rotation seat 43, and the other end is hinged with expansion link 44, the monitoring hydraulic pressure of detection system second The one end of cylinder 19 is hinged with expansion link 44, and the other end is hinged with two grades of expansion links 45, the monitoring hydraulic cylinder 20 of detection system the 3rd One end is hinged with two grades of expansion links 45, and the other end is hinged with monitoring detector 46, and the second monitoring detection system is visited with the first monitoring Examining system structure is identical;

The frame bar assembly includes the first bar 16, the second bar 14, the 3rd bar 12, the 4th bar 10, the 5th bar 8, the 6th bar 6th, the 7th bar 4 and the 8th bar 2, the first bar 16 are connected with the second bar 14 by the first Hooke's hinge 15, the second bar 14 and the 3rd bar 12 Connected by second hinge 13, the 3rd bar 12 is connected with the 4th bar 10 by the first motor of side link 11, the 4th bar 10 with 5th bar 8 is connected by third hinge 9, and the 5th bar 8 is connected with the 6th bar 6 by the second Hooke's hinge 7, the 6th bar 6 and the 7th bar 4 Connected by the 4th hinge 5, the 7th bar 4 is connected with the 8th bar 2 by the second motor of side link 3, the 8th bar 2 and the first bar 16 are connected by first axle 1, and the one end of the first driving hydraulic cylinder of side link 21 is hinged with the first bar 16, the other end and the second bar 14 Connected by the 3rd Hooke's hinge 22, the one end of the second driving hydraulic cylinder of side link 23 is connected with the 6th bar 6, the other end and the 5th bar 8 It is connected by the 4th Hooke's hinge 24, the one end of the 3rd driving hydraulic cylinder of side link 25 is hinged with the first bar 16, the other end and the 8th bar 2 It is hinged, the one end of the 4th driving hydraulic cylinder of side link 26 is hinged with the 6th bar 6, the other end is hinged with the 7th bar 4, side link the 5th drives The one end of hydrodynamic cylinder pressure 27 is hinged with the 5th bar 8, and the other end is hinged with the 4th bar 10, the one end of the 6th driving hydraulic cylinder of side link 28 with Second bar 14 is hinged, and the other end is hinged with the 3rd bar 12.

The circular arc corresponding angle of arc-shaped limit chute 37 is 105-110 °, the pedipulator 17 and the established angle of link 33 Spend for 50-55 °.

Operation principle and process:

Compares figure 2, Fig. 3, Fig. 4 and Fig. 5, when drive rocker 31 is vertical with connecting rod 32, sliding sleeve 34 slides into link 33 It is middle;The independent role effect of pedipulator motor 30, as state is changed into state shown in Fig. 3 as shown in Figure 2, it is possible to achieve machine Relative first bar 16 of tool leg 17 holds the motion of trunk tightly simultaneously upwards, and such as action effect, state is changed into shown in Fig. 2 as shown in Figure 4 State, it is possible to achieve relative first bar 16 of pedipulator 17 loosens the motion of trunk simultaneously upwards, i.e. action effect is changed into by Fig. 4 When Fig. 2 is changed into state shown in Fig. 3 again, pedipulator 17 does upward relaxing exercise relative to the first bar 16, by holding and done again upwards Hold motion tightly, action effect on the contrary is changed into Fig. 2 and is changed into state shown in Fig. 4 again as shown in Figure 3, realizes pedipulator 17 relative It is also that pedipulator 17 drives monitoring detection of climbing tree in the first bar 16 by holding state to loosening downwards again to the motion held tightly downwards The process that robot is moved upwards, and sliding sleeve driving hydraulic cylinder 36 participates in being changed into Fig. 2 as shown in Figure 3 and being again changed into shown in Fig. 4 Process, it is ensured that when robot is moved upwards, pedipulator 17 is always maintained at the holding to trunk, the drive of sliding sleeve driving hydraulic cylinder 36 Dynamic process is, when state is changed into state shown in Fig. 2 as shown in Figure 3, and sliding sleeve driving hydraulic cylinder 36 is gradually stretched out, and in Fig. 2 institutes Show state up to range, when state is changed into state shown in Fig. 4 as shown in Figure 2, sliding sleeve driving hydraulic cylinder 36 gradually bounces back, And reset condition is reduced in state shown in Fig. 4, pedipulator motor 30 and the phase of sliding sleeve driving hydraulic cylinder 36 during this Mutually coordinate, realize the automatic conversion of one degree of freedom and two frees degree, realize robot during upward motion, machinery Leg 17 is always maintained at holding tightly.

Compares figure 5, when pedipulator 17 is moved upwards, can realize under the independent role of pedipulator motor 30 and climb tree The range of motion of holding, imitates animal and climbs tree process leg action, i.e. pedipulator 17 by holding trunk, to gradually putting upwards Pine, then to the process gradually held tightly upwards, θ in Fig. 51、θ2The size of value reflects the holding degree of pedipulator 17 and trees 47.

Compares figure 2, Fig. 3, Fig. 4 and Fig. 5, pedipulator 17 constitute a pin with fixed claw 39 and climb instrument, and incline with trunk Oblique certain angle, therefore the driving force of pedipulator motor 30 can not only realize that pedipulator 17 is climbed tree while holding trunk tightly upwards Motion, moreover it is possible to realize that pedipulator 17, to the locked of trunk, meets reliable and stable requirement of climbing tree, at the same pedipulator 17 with machinery Leg driving hydraulic cylinder 29 is connected, and the collapsing length of pedipulator driving hydraulic cylinder 29 can be adjusted automatically according to trunk diameter, is realized Generally it is applicable function.

Compares figure 6, Fig. 7 and Fig. 8, pedipulator 17 are identical with the pedipulator action in the 3rd pedipulator system, and with Pedipulator in two pedipulator systems is on the contrary, pedipulator in pedipulator and the 4th pedipulator system in the second pedipulator system Action is identical, therefore during climbing tree, the first step, as shown in fig. 6, the pedipulator in the pedipulator system of pedipulator 17 and the 3rd Moved upwards with respect to body, and the pedipulator in the pedipulator and the 4th pedipulator system in the second pedipulator system is with respect to body Move downward, i.e. the pedipulator in pedipulator and the 4th pedipulator system in the second pedipulator system, drive robot body Motion upwards, second step is identical with the first step, the machinery in pedipulator and the 4th pedipulator system in the second pedipulator system Leg is moved upwards with respect to body, and the pedipulator in the pedipulator system of pedipulator 17 and the 3rd is moved downward with respect to body, i.e., mechanical Pedipulator in the pedipulator system of leg 17 and the 3rd drives robot body to move upwards, and the two steps are just realized successively Monitoring sniffing robot of climbing tree quickly is climbed tree.

When climbing tree, monitoring sniffing robot needs the remains stationary on trunk, to complete such as training, monitoring, insect pest preventing and controlling During work, driven rocking bar 35 connects rolling bearing 38, and to move to upper extreme position in arc-shaped limit chute 37 locked, only by Sliding sleeve driving hydraulic cylinder 36 drives, the pedipulator in the second pedipulator system, the 3rd pedipulator system and the 4th pedipulator system Identical with the state of pedipulator 17, monitoring sniffing robot of now climbing tree just firmly is held tightly on trunk.

The driving hydraulic cylinder 25 of side link the 3rd and the driving hydraulic cylinder 26 of side link the 4th are driven simultaneously, or driving connects simultaneously The driving hydraulic cylinder 27 of hack lever the 5th and the driving hydraulic cylinder 28 of side link the 6th, it is possible to achieve left and right turn, while driving side link First driving hydraulic cylinder 21 and the second driving hydraulic cylinder of side link 23 can be realized and bent over upwards, while driving side link first to drive Dynamic motor 11 and the second motor of side link 3 can realize that the change of center of gravity, the various works of flexible adaptation are realized in left and right doubling Condition.

Compares figure 1-8, pressure sensor 42 can detect pressure value of the pedipulator 17 to trunk, PSD range sensors The distance of 40 detection pedipulators 17 and trunk, velocity sensor 41 is used for detecting the movement velocity of pedipulator 17, and each sensor will be believed Number control system is fed back to, realize exact automatic control.

Claims (3)

  1. Monitoring sniffing robot, including pedipulator system, sensor, monitoring detection system and machine 1. one kind automation stepping is climbed tree Hack lever component, it is characterised in that concrete structure and annexation are:
    The pedipulator system includes the first pedipulator system, the second pedipulator system, the 3rd pedipulator system and the 4th machinery Leg system, the first pedipulator system includes drive rocker, driven rocking bar, connecting rod, pedipulator motor, link, cunning Set, sliding sleeve driving hydraulic cylinder, pedipulator driving hydraulic cylinder, pedipulator, fixed claw, arc-shaped limit chute and rolling bearing, driving Rocking bar one end is connected through the hinge with connecting rod, and the other end is fixedly connected with pedipulator motor, and driven rocking bar passes through with connecting rod Hinge connection, link both with rod hinge connection, and be connected with sliding sleeve by cylindrical pair, also fix and connect with pedipulator driving hydraulic cylinder Connect, the sliding sleeve is connected through a screw thread with sliding sleeve driving hydraulic cylinder, the pedipulator driving hydraulic cylinder passes through screw thread with pedipulator Connection, the fixed claw is fixedly connected with link, the second pedipulator system, the 3rd pedipulator system, the 4th pedipulator system It is identical with the first pedipulator system architecture and annexation;
    The sensor includes pressure sensor, PSD range sensors and velocity sensor, and the pressure sensor is fixedly connected In pedipulator end, the PSD range sensors are fixedly connected on link, and the velocity sensor is fixedly connected on machinery On leg;
    The monitoring detection system includes the first monitoring detection system and the second monitoring detection system, the first monitoring detection system System includes rotation seat, expansion link, two grades of expansion links, monitoring detector, monitoring detection system first hydraulic cylinder, monitoring detection systems Second hydraulic cylinder and the monitoring hydraulic cylinder of detection system the 3rd, the expansion link are hinged with rotation seat, and two grades of expansion link one end are being stretched Slided in contracting bar, the other end is hinged with monitoring detector, described monitoring detection system first hydraulic cylinder one end is hinged with rotation seat, The other end is hinged with expansion link, and described monitoring detection system second hydraulic cylinder one end is hinged with expansion link, and the other end is stretched with two grades Contracting bar is hinged, and described monitoring hydraulic cylinder one end of detection system the 3rd is hinged with two grades of expansion links, and the other end is cut with scissors with monitoring detector Connect, the second monitoring detection system is identical with the first monitoring detection system structure.
  2. The monitoring sniffing robot 2. automation stepping according to claim 1 is climbed tree, it is characterised in that the arc-shaped limit Chute circular arc corresponding angle is 105-110 °.
  3. 3. automation stepping according to claim 1 is climbed tree monitoring sniffing robot, it is characterised in that the pedipulator with Link setting angle is 50-55 °.
CN201710182445.XA 2017-03-24 2017-03-24 One kind automation stepping is climbed tree monitoring sniffing robot CN106976489A (en)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104340292A (en) * 2014-10-17 2015-02-11 燕山大学 Wheel-leg dual-purpose shape shifting robot
CN205469357U (en) * 2015-09-30 2016-08-17 重庆交通大学 A multi -functional imitative ant robot for crossing over obstacle
DE102015013093A1 (en) * 2015-03-19 2016-09-22 Willi Zschiebsch Walking robot device
CN105962837A (en) * 2016-06-29 2016-09-28 南京信息工程大学 Suction cup type window-wiping bionic spider robot
WO2016172248A1 (en) * 2015-04-20 2016-10-27 The Board Of Regents For Oklahoma State University System and method for inducing motion in a rolling robot using a dual telescoping linear actuator
CN106514606A (en) * 2016-12-18 2017-03-22 徐州乐泰机电科技有限公司 Wheel-legged double-arm robot

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104340292A (en) * 2014-10-17 2015-02-11 燕山大学 Wheel-leg dual-purpose shape shifting robot
DE102015013093A1 (en) * 2015-03-19 2016-09-22 Willi Zschiebsch Walking robot device
WO2016172248A1 (en) * 2015-04-20 2016-10-27 The Board Of Regents For Oklahoma State University System and method for inducing motion in a rolling robot using a dual telescoping linear actuator
CN205469357U (en) * 2015-09-30 2016-08-17 重庆交通大学 A multi -functional imitative ant robot for crossing over obstacle
CN105962837A (en) * 2016-06-29 2016-09-28 南京信息工程大学 Suction cup type window-wiping bionic spider robot
CN106514606A (en) * 2016-12-18 2017-03-22 徐州乐泰机电科技有限公司 Wheel-legged double-arm robot

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Application publication date: 20170725