CN107351938A - A kind of multi-joint climbing robot - Google Patents
A kind of multi-joint climbing robot Download PDFInfo
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- CN107351938A CN107351938A CN201710555159.3A CN201710555159A CN107351938A CN 107351938 A CN107351938 A CN 107351938A CN 201710555159 A CN201710555159 A CN 201710555159A CN 107351938 A CN107351938 A CN 107351938A
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- joint
- support
- thigh
- bearing
- hydraulic cylinder
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- 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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a kind of multi-joint climbing robot,Including the m units of creeping being sequentially connected,m≥2,Unit of creeping includes support,Thigh joint hinged-support,Hip joint bearing,Side-sway bearing,Cross free bearing,Leg mechanism and hydraulic drive mechanism,Thigh joint hinged-support,Hip joint bearing,Side-sway bearing is connected in turn on support,Cross free bearing is arranged near the hinged-support of thigh joint,Leg mechanism is arranged on the both sides of support,Including hip joint,Big leg joint,Calf joint and spherical pin,Hydraulic drive mechanism is used to drive leg mechanism to be swung,Including thigh hydraulic cylinder,Hip joint hydraulic cylinder and shank hydraulic cylinder,1st back-end support to 1 unit of creeping of m is provided with rotating disk after body,The support front end of 2nd to m-th unit of creeping is provided with rotating disk before body,Rotating disk is vertically connected with by rotational pin after rotating disk and body before the body of two neighboring unit of creeping,Form 1 revolute pair of m.
Description
Technical field
The invention belongs to robot field, and in particular to a kind of multi-joint climbing robot.
Background technology
In recent years, with the development of science and technology, machine man-based development is also very rapid, and application is also very extensive.
A subject of the climbing robot as robot development and application, be one of focus of robot field's research, also increasingly by
It is also more and more faster to the attention of people, development.
But climbing robot of the prior art is mostly influenceed by unit of creeping, the left side that can have climbing robot
The problems such as right swing or body rotate underaction, it is also possible to some requirements can not be met, meeting requirement
On the basis of can increase the complication degree of climbing robot unavoidably so that the production cost increase of climbing robot.
The content of the invention
The present invention is, and it is an object of the present invention to provide a kind of multi-joint climbing robot in order to solving the above problems and carry out.
The invention provides a kind of multi-joint climbing robot, including：The m units of creeping being sequentially connected, m >=2, its
In, unit of creeping include support, thigh joint hinged-support, hip joint bearing, side-sway bearing, cross free bearing, leg mechanism and
Hydraulic drive mechanism, thigh joint hinged-support, hip joint bearing, side-sway bearing are connected in turn on support, and cross free bearing is set
Near the hinged-support of thigh joint, leg mechanism is arranged on the both sides of support, including hip joint, big leg joint, calf joint
With spherical pin, big leg joint is connected on the hinged-support of thigh joint, and hip joint is connected on hip joint bearing, hip joint, thigh
Joint and calf joint are sequentially connected, and are formed and are rotated swinging pair, and hydraulic drive mechanism is used to drive leg mechanism to be swung, and wraps
Thigh hydraulic cylinder, hip joint hydraulic cylinder and shank hydraulic cylinder are included, thigh hydraulic cylinder is connected to thigh hinge joints by cross free bearing
On bearing, hip joint hydraulic cylinder is connected with hip joint bearing, and shank hydraulic cylinder is connected on calf joint, the 1st to m-1
Creep unit back-end support be provided with body after rotating disk, the support front end of the 2nd to m-th unit of creeping is provided with body forward
Disk, rotating disk is vertically connected with by rotational pin after rotating disk and body before the body of two neighboring unit of creeping, and is formed m-1 and is rotated
It is secondary.
Multi-joint climbing robot provided by the invention, in addition to：Annular lead, the both sides of rotating disk before body.
Multi-joint climbing robot provided by the invention, in addition to：Compression spring, located at it is two neighboring creep unit it
Between, it is connected to the both sides of rotating disk after body.
Multi-joint climbing robot provided by the invention, in addition to：Antirattle spring, located at calf joint and spherical pin it
Between.
Multi-joint climbing robot provided by the invention, in addition to：Control unit, control thigh hydraulic cylinder, hip joint liquid
The stroke of cylinder pressure and shank hydraulic cylinder, so as to control the amplitude of fluctuation of leg mechanism.
In multi-joint climbing robot provided by the invention, it can also have the feature that：Wherein, m=6.
The effect of invention and effect
According to multi-joint climbing robot involved in the present invention because having multiple units of creeping, unit of each creeping leads to
Cross revolute pair to be connected, so each joint can mutually swing, walking is flexible；Each body joint is provided with two legs
Portion mechanism, the leg mechanism are good by HYDRAULIC CONTROL SYSTEM, stability.Control unit can be entered respectively to hydraulic drive mechanism
Row control, enabling to being driven respectively to leg mechanism, allow walking step state to coordinate so that the walking of climbing robot
Precision is higher.Therefore, multi-joint climbing robot of the invention is simple in construction, and stability is good, and precision is high, can be detected in exploration,
A variety of applications such as are viewed and admired in carrying cargo, science popularization teaching, amusement park.
Brief description of the drawings
Fig. 1 is the overall structure diagram in embodiments of the invention；
Fig. 2 is the overall structure top view in the embodiment more than the present invention；
Fig. 3 is the cellular construction schematic diagram of creeping in embodiments of the invention；
Fig. 4 is the body articulation structure schematic diagram in embodiments of the invention；
Fig. 5 is the leg mechanism structural representation in embodiments of the invention；
Fig. 6 is the hip joint structural representation in embodiments of the invention；
Fig. 7 is the thigh articulation structure schematic diagram in embodiments of the invention；
Fig. 8 is the calf joint structural representation in embodiments of the invention.
Embodiment
In order that the technological means that the present invention realizes is easy to understand with effect, with reference to embodiments and accompanying drawing is to this
Invention is specifically addressed.
Embodiment：
Fig. 1 is the overall structure diagram in embodiments of the invention, and Fig. 2 is the overall knot in the embodiment more than the present invention
Structure top view.
As shown in Figures 1 and 2, a kind of multi-joint climbing robot 100 of the present embodiment, including：What m was sequentially connected climbs
Row unit 1 (m >=2) and control unit (not shown), the m=6 in the present embodiment.
Fig. 3 is the cellular construction schematic diagram of creeping in embodiments of the invention.
As shown in figure 3, unit 1 of creeping includes support 2, thigh joint hinged-support 3, hip joint bearing 4, side-sway bearing 5, ten
Word free bearing 6, leg mechanism 7 and hydraulic drive mechanism.
Fig. 4 is the body articulation structure schematic diagram in embodiments of the invention.
Formed as shown in figure 4, thigh joint hinged-support 3, hip joint bearing 4, side-sway bearing 5 are connected in turn on support 2
The body for unit 1 of creeping, cross free bearing 6 are arranged near thigh joint hinged-support 3.
Fig. 5 is the leg mechanism structural representation in embodiments of the invention, and Fig. 6 is that the hip in embodiments of the invention closes
Structural representation is saved, Fig. 7 is the thigh articulation structure schematic diagram in embodiments of the invention, and Fig. 8 is in embodiments of the invention
Calf joint structural representation.
As shown in Fig. 5,6,7 and 8, leg mechanism 7 is arranged on the both sides of support 2, including hip joint 8, big leg joint 9, small
Leg joint 10 and spherical pin 20, big leg joint 9 are connected on thigh joint hinged-support 3, and hip joint 8 is connected to hip joint bearing 4
On.
In the present embodiment, the connection between hip joint 8 and big leg joint 9, between big leg joint 9 and calf joint 10 is
Rotation connection, the rotation connection connect for single-degree-of-freedom.
Hydraulic drive mechanism is used to drive leg mechanism 7 to be swung, including thigh hydraulic cylinder 11, hip joint hydraulic cylinder 12
With shank hydraulic cylinder 13, thigh hydraulic cylinder 11 is connected on thigh joint hinged-support 3 by cross free bearing 6, hip joint hydraulic cylinder
12 are connected with hip joint bearing 4, and shank hydraulic cylinder 13 is connected on calf joint 10.
As shown in Fig. 1 and 2, the rear end of support 2 of the 1st to the 5th unit 1 of creeping is provided with rotating disk 15 after body, and the 2nd extremely
The front end of support 2 of 6th unit 1 of creeping is provided with rotating disk 14 before body, rotating disk 14 and body before the body of two neighboring unit 1 of creeping
Rotating disk 15 is vertically connected with by rotational pin 16 after body.
As shown in figure 4, annular lead 17 is located at the both sides of rotating disk 14 before body.
As shown in figure 4, compression spring 18 is located between two neighboring unit 1 of creeping, two of rotating disk 15 after body is connected to
Side.
As shown in fig. 6, antirattle spring 19 is located between calf joint 10 and spherical pin 20.
Control unit, the stroke of control thigh hydraulic cylinder 11, hip joint hydraulic cylinder 12 and shank hydraulic cylinder 13, so as to control
The amplitude of fluctuation of leg mechanism 7 processed.
It is six units 1 of creeping in the present embodiment, but can increases if necessary, by rotational pin 16 by before body
Rotating disk 15 is vertically connected with after rotating disk 14 and body, you can increased unit of creeping is connected with original unit 1 of creeping.
The course of work of the present embodiment multi-joint climbing robot is as follows：
By in the multi-joint climbing robot 100 of the present embodiment, hip joint 8, big leg joint 9 and calf joint 10 connect successively
Connect to form rotation swinging pair.Hydraulic drive mechanism drives the rotation swinging pair, moves leg mechanism 7, so as to drive list of creeping
Member 1 moves.The revolute pair that rotating disk cooperatively forms about 15 after rotating disk 14 and body before the body of two neighboring unit 1 of creeping can be with
Rotate in moving process, and then can be moved for greater flexibility between the unit 1 that makes to creep.When climbing robot moves, leg
The amplitude of fluctuation of mechanism 7 controls the stroke of the hydraulic cylinder in each joint by control unit, so as to coordinate each leg machine
The walking step state of structure 7.
The effect of embodiment and effect
For the multi-joint climbing robot of the present embodiment because having multiple units of creeping, unit of each creeping passes through revolute pair
It is connected, so each joint can mutually swing, walking is flexible；Each body joint is provided with two leg mechanisms,
The leg mechanism is good by HYDRAULIC CONTROL SYSTEM, stability.Control unit can be respectively controlled to hydraulic drive mechanism,
Make it possible to being driven respectively to leg mechanism, allow walking step state to coordinate so that the walking precision of climbing robot more
It is high.Therefore, multi-joint climbing robot of the invention is simple in construction, and stability is good, and precision is high, can be detected in exploration, goods fortune
Carry, a variety of applications such as science popularization teaching, amusement park are viewed and admired.It will turn additionally by rotational pin 16 after rotating disk before body 14 and body
Disk 15 is vertically connected with can and increases or decreases element number of creeping, and it is convenient, versatile to set.
The multi-joint climbing robot of the present embodiment is additionally provided with compression spring, can prevent it is two neighboring creep unit it
Between mutually collide.
The multi-joint climbing robot of the present embodiment is additionally provided with antirattle spring, can be good at mitigating the multi-joint and creeps
Robot makes its stable movement in caused vibrations of creeping.
Above-mentioned embodiment is the preferred case of the present invention, is not intended to limit protection scope of the present invention.
Claims (6)
- A kind of 1. multi-joint climbing robot, it is characterised in that including：The m units of creeping being sequentially connected, m >=2,Wherein, the unit of creeping includes support, thigh joint hinged-support, hip joint bearing, side-sway bearing, cross free bearing, leg Portion mechanism and hydraulic drive mechanism,Thigh joint hinged-support, hip joint bearing, side-sway bearing are sequentially connected on the bracket, and the cross free bearing is set Put near the hinged-support of the thigh joint,The leg mechanism is arranged on the both sides of the support, including hip joint, big leg joint, calf joint and spherical pin, institute State big leg joint to be connected on the hinged-support of the thigh joint, the hip joint is connected on the hip joint bearing, the hip Joint, the big leg joint and the calf joint are sequentially connected, and are formed and are rotated swinging pair,The hydraulic drive mechanism is used to drive the leg mechanism to be swung, including thigh hydraulic cylinder, hip joint hydraulic cylinder With shank hydraulic cylinder, the thigh hydraulic cylinder is connected on the hinged-support of the thigh joint by the cross free bearing, the hip Joint fluid cylinder pressure is connected with hip joint bearing, and the shank hydraulic cylinder is connected on the calf joint,1st back-end support to unit of being creeped m-1 described is provided with rotating disk after body, and the 2nd described in m-th to climbing The support front end of row unit is provided with rotating disk before body,Rotating disk is vertically connected with by rotational pin after rotating disk and the body before the body of the two neighboring unit of creeping, shape Into m-1 revolute pair.
- 2. multi-joint climbing robot according to claim 1, it is characterised in that also include：Annular lead, the both sides of rotating disk before the body.
- 3. multi-joint climbing robot according to claim 1, it is characterised in that also include：Compression spring, between the two neighboring unit of creeping, it is connected to the both sides of rotating disk after the body.
- 4. multi-joint climbing robot according to claim 1, it is characterised in that also include：Antirattle spring, between the calf joint and the spherical pin.
- 5. multi-joint climbing robot according to claim 1, it is characterised in that also include：Control unit, the stroke of the thigh hydraulic cylinder, the hip joint hydraulic cylinder and the shank hydraulic cylinder is controlled, so as to Control the amplitude of fluctuation of the leg mechanism.
- 6. multi-joint climbing robot according to claim 1, it is characterised in that：Wherein, m=6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710555159.3A CN107351938A (en) | 2017-07-10 | 2017-07-10 | A kind of multi-joint climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710555159.3A CN107351938A (en) | 2017-07-10 | 2017-07-10 | A kind of multi-joint climbing robot |
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| Publication Number | Publication Date |
|---|---|
| CN107351938A true CN107351938A (en) | 2017-11-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710555159.3A Pending CN107351938A (en) | 2017-07-10 | 2017-07-10 | A kind of multi-joint climbing robot |
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| CN (1) | CN107351938A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109455242A (en) * | 2018-09-30 | 2019-03-12 | 浙江大学 | A kind of modular flexible Climbing Robot |
| CN109455239A (en) * | 2018-11-06 | 2019-03-12 | 浙江大学 | It is a kind of it is modular can omnidirectional moving flexible crawl robot |
| CN109484509A (en) * | 2018-11-23 | 2019-03-19 | 广东职业技术学院 | One kind is crawled climbing robot |
Citations (5)
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| CN1974300A (en) * | 2006-12-01 | 2007-06-06 | 华中科技大学 | Polypod walking robot capable of being disassembled and reconstructed |
| CN102616295A (en) * | 2012-04-09 | 2012-08-01 | 北京理工大学 | Multi-joint chain link-type robot based on modularization |
| CN203780646U (en) * | 2014-04-25 | 2014-08-20 | 中科宇博（北京）文化有限公司 | Mechanical joint and leg structure of bionic mechanical dinosaur |
| CN204150142U (en) * | 2014-10-23 | 2015-02-11 | 四川伍贰捌自动化设备有限公司 | A kind of modularization multi-foot robot |
| US9662787B1 (en) * | 2015-09-25 | 2017-05-30 | Google Inc. | Hydraulic pressure variation in a legged robot |
-
2017
- 2017-07-10 CN CN201710555159.3A patent/CN107351938A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1974300A (en) * | 2006-12-01 | 2007-06-06 | 华中科技大学 | Polypod walking robot capable of being disassembled and reconstructed |
| CN102616295A (en) * | 2012-04-09 | 2012-08-01 | 北京理工大学 | Multi-joint chain link-type robot based on modularization |
| CN203780646U (en) * | 2014-04-25 | 2014-08-20 | 中科宇博（北京）文化有限公司 | Mechanical joint and leg structure of bionic mechanical dinosaur |
| CN204150142U (en) * | 2014-10-23 | 2015-02-11 | 四川伍贰捌自动化设备有限公司 | A kind of modularization multi-foot robot |
| US9662787B1 (en) * | 2015-09-25 | 2017-05-30 | Google Inc. | Hydraulic pressure variation in a legged robot |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109455242A (en) * | 2018-09-30 | 2019-03-12 | 浙江大学 | A kind of modular flexible Climbing Robot |
| CN109455242B (en) * | 2018-09-30 | 2020-06-05 | 浙江大学 | Modular flexible wall climbing robot |
| CN109455239A (en) * | 2018-11-06 | 2019-03-12 | 浙江大学 | It is a kind of it is modular can omnidirectional moving flexible crawl robot |
| CN109455239B (en) * | 2018-11-06 | 2020-06-05 | 浙江大学 | Modular flexible crawling robot capable of moving in all directions |
| CN109484509A (en) * | 2018-11-23 | 2019-03-19 | 广东职业技术学院 | One kind is crawled climbing robot |
| CN109484509B (en) * | 2018-11-23 | 2023-09-01 | 广东职业技术学院 | Creeping robot |
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| PB01 | Publication | ||
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Application publication date: 20171117 |