CN108161899A - A kind of biped climbs crusing robot - Google Patents

A kind of biped climbs crusing robot Download PDF

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Publication number
CN108161899A
CN108161899A CN201711424427.4A CN201711424427A CN108161899A CN 108161899 A CN108161899 A CN 108161899A CN 201711424427 A CN201711424427 A CN 201711424427A CN 108161899 A CN108161899 A CN 108161899A
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CN
China
Prior art keywords
hip
platform
robot
climbs
hip pivot
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Pending
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CN201711424427.4A
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Chinese (zh)
Inventor
王伟
阮华平
何芷航
李小龙
张晓丹
薛小涵
陈雅琴
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Wuhan University WHU
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Wuhan University WHU
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Priority to CN201711424427.4A priority Critical patent/CN108161899A/en
Publication of CN108161899A publication Critical patent/CN108161899A/en
Pending legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/003Programme-controlled manipulators having parallel kinematics
    • B25J9/0072Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02Sensing devices
    • B25J19/021Optical sensing devices
    • B25J19/023Optical sensing devices including video camera means
    • 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

The invention discloses a kind of bipeds to climb crusing robot, mainly it is connected to form by a pair of of mobile machine arm by hip pivot joint, the mobile machine arm includes hip platform, Delta parallel manipulators, electromagnetism foot made of electromagnet and the instrument cases on hip platform, the Delta parallel manipulators are fixedly mounted on hip mesa base, electromagnetism foot is mounted on the moving platform of Delta parallel manipulators, linking arm is stretched out in the hip platform side, the linking arm that two mobile machine arms stretch out is connected by hip pivot joint, two mobile machine arms can be driven to relatively rotate by hip pivot joint, pass through the free movement in its space of Delta parallel manipulator hand-drive electromagnetism foots.The present invention is realizing climbing walking in structure made of various ferromagnets, and can be moved with omnidirection, and climbs that speed is fast, and obstacle climbing ability is strong, and bearing capacity is strong, wide adaptation range, can substantially reduce risk, improves working efficiency and economic benefit.

Description

A kind of biped climbs crusing robot
Technical field
The present invention relates to robotic technology fields, are related to a kind of crusing robot, are climbed more particularly to a kind of biped Climb crusing robot.
Background technology
At present, the application range of robot constantly expands, military affairs, manufacture, aerospace, nuclear energy, education, medical treatment and Increasingly important role is played inside the fields such as home services.And in many industries, all there is the demand of working at height, Such as detection, maintenance and the cleaning of wind-power tower;The maintenance of electric power tower;The maintenance of communication iron tower;The spray painting of ship, detection and It safeguards;Maintenance of truss bridge etc..These working at height all have higher danger, if it is possible to be replaced using robot Manually carry out these working at height, it will substantially reduce risk, improve operating efficiency, increase economic efficiency.This requires machines People has the ability that can be climbed and work in subject surfaces such as the surface of steel material, steel truss.
Application No. is 201620465672.4, the patent of entitled " wind-driven generator clean and maintenance and detection robot " In, it is by the way that permanent magnet is connected on crawler belt, crawler belt is mounted on the link of robot, then permanent magnet and wind-force tower Absorption, robot rotate to move above in wind-power tower by crawler belt.Permanent magnet first in robot and wind-power tower it Between always exist magnetic adsorbability, robot needs constantly to overcome this magnetic adsorbability when movement, and power consumption is caused to increase.Together When the power consumption of bigger that causes of crawler haulage and more expensive cost.And the robot can only be vertical along wind-power tower Direction is mobile or is moved in the range of the left and right deviation low-angle of vertical direction, and wind-power tower is round table-like, therefore should Robot manipulating task is less efficient.
Application No. is 201510989345.9, in the patent of entitled " a kind of iron tower climbing robot ", one kind is employed The robot of cascaded structure form has the characteristics that flexibility is high, but its movement velocity and load capacity be not high, limit Its application range is made.
It is to pass through magnetic in the patent of entitled " magnetic roller adsorption type wall climbing robot " application No. is 200410016429.6 Wheel form, which adsorbs robot, by climbing body surface, has the advantages that climbing is fireballing, but use magnet-wheel form, makes The obstacle climbing ability for obtaining robot is not high, and the adsorption area of magnet-wheel is smaller so that magnetic adsorbability utilization rate is not high, leads to machine The load capacity of people is relatively low.
Invention content
The technical issues of present invention is mainly solved present in the prior art.A kind of biped climbs crusing robot, can In the spaces such as iron and steel material quality surface, electric power tower and communication iron tower of wind-power tower, ship, substation etc. steel truss structure Upper to realize climbing walking, having can be moved with omnidirection, and climbing speed is fast, and obstacle climbing ability is strong, and bearing capacity is strong, wide adaptation range The advantages of waiting can replace the artificial working at height for carrying out danger, reduce risk, improve working efficiency and economic benefit.
The technical issues of present invention is solves present in the prior art is adopted the technical scheme that:
A kind of biped climbs crusing robot, it is characterised in that:Mainly closed by a pair of of mobile machine arm by hip pivot Section is connected to form, the mobile machine arm include hip platform, Delta parallel manipulators, electromagnetism foot made of electromagnet and Instrument cases on hip platform, the Delta parallel manipulators are fixedly mounted on hip mesa base, electromagnetism foot peace On the moving platform of Delta parallel manipulators, linking arm is stretched out in the hip platform side, what two mobile machine arms stretched out Linking arm is connected by hip pivot joint, two mobile machine arms can be driven to relatively rotate by hip pivot joint, passed through The free movement in its space of Delta parallel manipulator hand-drive electromagnetism foots.
As an improvement, the hip pivot joint includes hip pivot joint motor, hip pivot joint motor seat, hip Portion rotates flange shaft and hip pivot flange axle bed;The hip pivot joint motor seat and the hip pivot flange axle bed point It is not fixed on the lower surface for the linking arm that two mobile machine arms stretch out;The hip pivot joint motor is mounted on the hip On cradle head motor cabinet;The output shaft of the hip pivot joint motor is fixedly linked with the hip pivot flange shaft;Institute Hip pivot flange shaft is stated to be fixedly linked with the hip pivot flange axle bed.
As an improvement, the Delta parallel manipulators include fixed platform, moving platform, 3 master arms, 3 slave arms and 3 A driving motor, what 3 driving motors were in triangular distribution is mounted on fixed platform bottom, and fixed platform is fixedly mounted on hip Mesa base, 3 master arm one end are respectively and fixedly installed on the output shaft of 3 driving motors, and the other end is driven with 3 respectively It is hinged and connected at the top of arm, 3 slave arm bottoms are hinged on the surrounding of moving platform, and moving platform is driven one by 3 driving motors Determine to move in spatial dimension, so as to which electromagnetism foot be driven to move in the range of certain space.
As an improvement, the slave arm is double-rod structure, pass through hinge between master arm at the top of two connecting rods of slave arm Chain is connected, and two connecting rod bottoms are also by being hingedly connected on moving platform.
As an improvement, the instrument cases are polygon tool box, polygon tool box madial wall is used to fix equipped with multiple The semicircular ring of contained object.
As an improvement, the instrument cases close the hexahedron box of top surface opening for a bottom surface.
As an improvement, the fixed platform bottom is equipped with the camera detection module for detecting walking environmental information.
As an improvement, the electromagnetism foot is made of plane electromagnetic iron, plane electromagnetic foot nesting is mounted on dynamic flat Among platform, and the driven mesa base plane of electromagnetism foot protrudes.
As an improvement, the hip pivot joint motor and driving motor are stepper motor or servo motor.
As an improvement, the electromagnetism foot selects direct current sucked type electromagnetism foot, characteristic is switched on state magnetic force disappearance, When obstructed electricity condition has magnetic force.
Therefore, the invention has the advantages and positive effects that:
(1) robot biped uses the structure type of Delta parallel manipulators, compact-sized, and rigidity is high, bearing capacity Greatly, no accumulated error, precision are higher.
(2) driving motor is fixed on the upper surface of fixed platform so that moving platform lighter in weight, movement inertia is small, movement speed Degree is high, and dynamic response is good.
(3) instrument cases are provided at the top of robot, are useful for the semicircular ring of setting tool equipment in instrument cases, therefore machine People can carry tool equipment and be climbed on manipulating object, can provide help to maintenance personal, expand the ability of robot.
(4) robot is using the series parallel type structure combined in parallel and serial, with reference to the advantages of series connection and parallel connection so that machine Device people is simple in structure, and working space is big, and precision is high, and operational efficiency is high.
(5) two camera detection modules are mounted on the lower surface of two fixed platforms, and field range is big, and stability is high, energy It is enough that reliably manipulating object is detected.
(6) robot can climb walking on manipulating object automatically, and having can be moved with omnidirection, and climbing speed is fast, The advantages of obstacle climbing ability is strong, and bearing capacity is strong, wide adaptation range etc. can replace the artificial working at height for carrying out danger, reduce Risk improves working efficiency and economic benefit.
(7) present invention can be in the steels material surface such as wind-power tower, ship, substation, electric power tower and communication iron tower It waits and climbing walking is realized on steel truss structure, and can be moved with omnidirection, and climb that speed is fast, and obstacle climbing ability is strong, hold Loading capability is strong, wide adaptation range, instead of manually carrying out dangerous working at height, reduces risk, improves working efficiency and economy Benefit.
Description of the drawings
Normal axomometric drawing of the attached drawing 1 for the present invention.
Vertical view of the attached drawing 2 for the present invention.
Attached drawing 3 is hip pivot joint threedimensional model schematic diagram
Threedimensional model schematic diagram of the attached drawing 4 for the Delta parallel manipulators of the present invention.
Electromagnetism foot threedimensional model schematic diagram of the attached drawing 5 for the present invention.
Action schematic diagram of the attached drawing 6 for the robot of the present invention.
Attached drawing 7-1,7-2,7-3,7-4 is the schematic diagram that robot is climbed with staggered form gait on manipulating object.
Attached drawing 8-1,8-2,8-3,8-4 is the schematic diagram that robot is climbed with worm type gait on manipulating object.
Attached drawing 9 is that robot is climbed on two coplanar angle steel faces of space steel truss structure, robot from It climbs to the schematic diagram in another angle steel face in one of angle steel face.
Attached drawing 10, which is robot, to be mutually perpendicular at two of space steel truss structure and on angle steel face into spatial relationship Climbing, robot is climbed from one of angle steel face to the schematic diagram in another angle steel face.
Attached drawing 11, which is robot, to be mutually parallel at two of space steel truss structure and on angle steel face into spatial relationship Face is climbed, and robot biped is located on the two angle steel faces the alternately schematic diagram of climbing respectively.
In attached drawing:1- semicircular rings, 2- instrument cases, 3- hip platforms, 4- fixed platforms, 5- camera detection modules, 6- drivings Motor, 7- hip pivot joint motors, 8- hip pivot joint motor seats, 9- hip pivot flange axle beds, 10- fastening bolts, 11- hip pivot flange shafts, 12- driving motor seats, 13- master arms, 14- slave arms, 15- hinges, 16- moving platforms, 17- spiral shells Nail, 18- electromagnetism foots, 19- linking arms.
Specific embodiment
Below by embodiment, and coordinate attached drawing, the technical solutions of the present invention will be further described.
First, the concrete structure of the present invention is introduced first.
Overall structure of the present invention is as shown in Figure 1, the symmetrical mobile machine arm of its structure is connected by hip pivot joint Composition, including a hip pivot joint, a pair of of instrument cases 2, a pair of of hip platform 3, a pair of Delta parallel manipulators, a pair Camera detection module 5, a pair of of electromagnetism foot 18.Wherein hip pivot joint is closed by hip pivot joint motor 7, hip pivot Economize on electricity engine base 8, and hip pivot flange shaft 11 9, fastening bolt 10, hip pivot flange shaft 11 forms;Delta parallel manipulators It is made of fixed platform 4, driving motor 6, driving motor seat 12, master arm 13, slave arm 14, hinge 15, moving platform 16;Instrument cases 2 close the hexahedron boxes that top surface opens for bottom surface, and hexahedron box madial wall is equipped with multiple for fixing the half of contained object Annulus 1;Camera detection module 5 is fixed on the lower surface of fixed platform 4;Electromagnetism foot 18 is solid by screw 17 and moving platform 16 Even.
Linking arm 19 is stretched out in 3 side of hip platform, and the linking arm 19 that two hip platforms 3 stretch out is closed by hip pivot Section connects and it is driven mutually to rotate, and hip platform 3 is connected by Delta parallel manipulators with electromagnetism foot 18 and drives it mutually Movement;Hip pivot joint motor seat 8 is separately fixed at the lower surface of a pair of of linking arm 19 for 11 9 with hip pivot flange shaft; Hip pivot joint motor 7 is mounted on hip pivot joint motor seat 8;The output shaft and hip of hip pivot joint motor 7 Rotation flange shaft 11 is fixed cooperation and is connected;Hip pivot flange shaft 11 and hip pivot flange shaft 11 9 are by fastening spiral shell Bolt 10 is fixed.4 quantity of fixed platform is 1 in single Delta parallel manipulators, and 16 quantity of moving platform is 1, and driving motor 6 counts It is 3 to measure, and 12 quantity of driving motor seat is 3, and connecting rod branch is 3, and master arm 13 is 3, and slave arm 14 is 3, each Slave arm 14 is made of two connecting rods, and hinge 15 is 12, is passed through between master arm 13 at the top of two connecting rods of slave arm 14 Hinge 15 is connected, and two connecting rod bottoms are connected to also by hinge 15 on moving platform 16.Pass through between fixed platform 4 and moving platform 16 Three connecting rod branch chain links being evenly distributed are fixed with driving motor seat 12 on fixed platform 4, and driving motor 6 is fixed on driving On motor cabinet 12, three driving motors 6 are distributed on fixed platform 4 into equilateral triangle, the output terminal and master arm of driving motor 6 13 input terminal connects, and 13 end of master arm in connecting rod branch is connected with two connecting rods of slave arm 14 by two hinges 15 It connects, is connected between two connecting rod ends and the moving platform 16 by two hinges 15.2 main body of instrument cases is closed for a bottom surface There are multiple semicircular rings 1 to be distributed for the hexahedron box that top surface opens, hexahedron box madial wall.Camera detection module 5 is mounted on two The lower surface of two fixed platforms 4 of a Delta parallel manipulators.Electromagnetism foot 18 passes through screw 17 and two Delta parallel machines The moving platform 16 of tool hand is fixed.
2nd, the achievable action of robot and function have in the present invention:
(1) pass through the rotation of hip pivot joint motor 7 so that hip pivot flange shaft 11 is rotated so as to fulfill two hips Any angle can be mutually rotated between portion's platform 33, as shown in Figure 6;
(2) pass through the rotation of three driving motors 6 of Delta parallel manipulators so that three master arms 13 rotate, and pass through Hinge 15 is driven so that three slave arms 14 rotate, so as to fulfill the translation in three direction of the electromagnetism foot 18 in space, such as Shown in attached drawing 6;
(3) the selection direct current sucked type electromagnetism foot 18 of electromagnetism foot 18, characteristic is switched on state magnetic force disappearance, when not Energized state has magnetic force.The safety of robot can be improved, and reduces the power consumption of robot, when extending the operation of robot Between.
(4) semicircular ring 1 of setting tool equipment is useful in instrument cases 2, therefore robot can carry tool equipment and make It is climbed on industry object, having expanded the ability of robot can preferably help simultaneously to maintenance personal's offer.
(5) two camera detection modules 5 are mounted on the lower surface of two fixed platforms 4, and the visual field is sufficient, and stability is high, energy It is enough that reliably effectively manipulating object is detected.
Action (1) (2) (3) can realize robot biped climbing walking, and can be on manipulating object towards any Direction climbing walking, and have extremely strong obstacle climbing ability.Robot possesses two when carrying out straight line climbing on manipulating object Kind climbing mode.One kind is robot biped in sustained height, and subsequent two sufficient alternating movements make robot with staggered form gait Climbing is as shown in attached drawing 7-1;One kind is that robot biped is one in front and one in back arranged, front foot metapedes alternating movement makes robot with compacted Worm formula gait is climbed as shown in attached drawing 8-1.When robot encounters barrier, robot can be with the step of any switching laws climbing State mode can easily clear the jumps.When climbing walking on the steel truss structure of space, robot has a variety of for robot Walking manner is neatly climbed, more can easily deal with a variety of skies such as vertical or parallel in the steel truss structure of space Between relationship angle steel face climbing walk problem, and have obstacle climbing ability well.
Two kinds of climbing gaits of robot operation are described further below in conjunction with the accompanying drawings.The tool of staggered form gait Body step is as follows:
(1) any one sufficient electromagnetism foot 18 of robot is powered, electromagnetic adsorption power disappears, while by Delta simultaneously Connection robot movement lifts the foot apart from manipulating object certain distance.
(2) foot is climbed direction to robot by Delta parallel manipulators hands movement to move a certain distance.
(3) foot to manipulating object is moved by Delta parallel manipulators hands movement, makes it close to manipulating object, and allow The electromagnetism foot 18 of the foot powers off, and electromagnetic adsorption power is restored, and the foot is made to be adsorbed with manipulating object and is fixed.
(4) make an other foot according to above-mentioned (1), (2), (3) step motion.
Complete above-mentioned step, you can robot is made to climb certain distance on manipulating object with staggered form gait.Entirely The motion process of cross-legged progression such as attached drawing 7-1,7-2,7-3, shown in 7-4.
Worm type climbing gait is as follows:
(1) the electromagnetism foot 18 for the foot for being located at front in two foots of robot along climbing direction is powered, electromagnetism is inhaled Attached power disappears, while is lifted the foot apart from manipulating object certain distance by Delta parallel manipulators hands movement.
(2) foot is climbed direction to robot by Delta parallel manipulators hands movement to move a certain distance.
(3) foot to manipulating object is moved by Delta parallel manipulators hands movement, makes it close to manipulating object, and allow The electromagnetism foot 18 of the foot powers off, and electromagnetic adsorption power is restored, and the foot is made to be adsorbed with manipulating object and is fixed.
(4) make an other foot according to above-mentioned (1), (2), (3) step motion.
Complete above-mentioned step, you can robot is made to climb certain distance on manipulating object with worm type gait.Entirely The motion process of worm type gait such as attached drawing 8-1,8-2,8-3, shown in 8-4.
Walking is climbed robot in work on the steel truss structure of space below in conjunction with the accompanying drawings to be described further.Figure 9 be that robot is climbed on two coplanar angle steel faces of space steel truss structure, robot from one of those It climbs to the schematic diagram in another angle steel face in angle steel face.The hip pivot joint of robot does not need to rotate at this time, robot Two hip platforms 3 it is coplanar, utilize the movement of the Delta parallel manipulators of robot so that the electromagnetism of robot foot Portion 18 can neatly move between two angle steel faces, can easily surmount obstacles, and complete the climbing walking of robot.Figure 10 Being robot is mutually perpendicular at two of space steel truss structure and is climbed above angle steel face into spatial relationship, robot from It climbs to the schematic diagram in another angle steel face in one of angle steel face.The hip pivot articulation 90 of robot at this time Degree so that two hip platforms 3 of robot are mutually perpendicular to, and pass through the movement of the Delta parallel manipulators of robot, robot Electromagnetism foot 18 can neatly be moved between the vertical angle steel face of two spaces, can easily surmount obstacles, complete machine The climbing walking of device people.Figure 11, which is robot, to be mutually parallel at two of space steel truss structure and into the angle steel of spatial relationship It is climbed above face, robot biped is located on the two angle steel faces the alternately schematic diagram of climbing respectively.The hip of robot at this time Cradle head rotates 180 degree so that two hip platforms 3 of robot pass through the Delta parallel manipulators of robot into 180 degree The movement of hand, the electromagnetism foot 18 of robot can neatly be mutually parallel at two and into above the angle steel face of spatial relationship it Between move, can easily surmount obstacles, complete robot climbing walking.
Comprehensive robot architecture's design, the motor function and description of the drawings of mechanism, robot can be more Flat roomy unitary steel material surface climbing walking such as wind-power tower, ship and the surface of substation, can also be more narrow Complicated steel surface climbing walking such as electric power tower and communication iron tower space steel truss structure, and all have good Obstacle climbing ability.The camera detection module 5 of robot installation simultaneously can be detected manipulating object, the work in robot Tool box 2 allows the robot to carry certain tool equipment auxiliary working at height personnel.
Although the preferred embodiment of the present invention is described above in conjunction with attached drawing, the invention is not limited in upper The specific embodiment stated, above-mentioned specific embodiment is only schematical, be not it is restricted, this field it is common Technical staff is not departing from present inventive concept and scope of the claimed protection, may be used also under the enlightenment of the present invention By make it is many in the form of, within these are all belonged to the scope of protection of the present invention.

Claims (10)

1. a kind of biped climbs crusing robot, it is characterised in that:Hip pivot joint is mainly passed through by a pair of of mobile machine arm It is connected to form, the mobile machine arm includes electromagnetism foot and peace made of hip platform, Delta parallel manipulators, electromagnet Instrument cases on hip platform, the Delta parallel manipulators are fixedly mounted on hip mesa base, the installation of electromagnetism foot On the moving platform of Delta parallel manipulators, linking arm, the company that two mobile machine arms stretch out are stretched out in the hip platform side It connects arm by hip pivot joint to be connected, two mobile machine arms can be driven to relatively rotate by hip pivot joint, passed through The free movement in its space of Delta parallel manipulator hand-drive electromagnetism foots.
2. biped as described in claim 1 climbs crusing robot, it is characterised in that:The hip pivot joint includes hip Portion's cradle head motor, hip pivot joint motor seat, hip pivot flange shaft and hip pivot flange axle bed;The hip turns Movable joint motor cabinet is separately fixed at the following table for the linking arm that two mobile machine arms stretch out with the hip pivot flange axle bed Face;The hip pivot joint motor is mounted on the hip pivot joint motor seat;The hip pivot joint motor Output shaft is fixedly linked with the hip pivot flange shaft;The hip pivot flange shaft is consolidated with the hip pivot flange axle bed It is fixed to be connected.
3. biped as claimed in claim 2 climbs crusing robot, it is characterised in that:The Delta parallel manipulators include Fixed platform, moving platform, 3 master arms, 3 slave arms and 3 driving motors, what 3 driving motors were in triangular distribution Mounted on fixed platform bottom, fixed platform is fixedly mounted on hip mesa base, and 3 master arm one end are respectively and fixedly installed to 3 On the output shaft of driving motor, respectively with being hinged and connected at the top of 3 slave arms, 3 slave arm bottoms are hinged on dynamic flat the other end The surrounding of platform drives moving platform to be moved in the range of certain space, so as to drive electromagnetism foot certain by 3 driving motors It is moved in spatial dimension.
4. biped as claimed in claim 3 climbs crusing robot, it is characterised in that:The slave arm is double-rod structure, from It is connected at the top of two connecting rods of swing arm between master arm by hinge, two connecting rod bottoms are also by being hingedly connected at moving platform On.
5. biped as described in claim 1 climbs crusing robot, it is characterised in that:The instrument cases are polygon tool Box, polygon tool box madial wall are equipped with multiple semicircular rings for being used to fix contained object.
6. biped as claimed in claim 5 climbs crusing robot, it is characterised in that:The instrument cases are closed for a bottom surface The hexahedron box that top surface opens.
7. biped as claimed in claim 3 climbs crusing robot, it is characterised in that:The fixed platform bottom is equipped with to examine Survey the camera detection module of walking environmental information.
8. biped as described in claim 1 climbs crusing robot, it is characterised in that:The electromagnetism foot is plane electromagnetic Iron is made, and plane electromagnetic foot nesting is mounted among moving platform, and the driven mesa base plane of electromagnetism foot protrudes.
9. biped as claimed in claim 3 climbs crusing robot, it is characterised in that:The hip pivot joint motor and drive Dynamic motor is stepper motor or servo motor.
10. biped as described in claim 1 climbs crusing robot, it is characterised in that:The electromagnetism foot selects direct current to inhale Disk type electromagnetic foot, characteristic is switched on state magnetic force disappearance, when obstructed electricity condition has magnetic force.
CN201711424427.4A 2017-12-25 2017-12-25 A kind of biped climbs crusing robot Pending CN108161899A (en)

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Cited By (9)

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CN109732566A (en) * 2018-12-24 2019-05-10 武汉大学 A kind of mixed connection biped climbing robot
CN110203298A (en) * 2019-06-27 2019-09-06 北京克莱明科技有限公司 A method of control climbing robot vola is accurately contacted with steel construction plane
CN110361396A (en) * 2019-08-12 2019-10-22 浙江工业大学 A kind of collaborative blade of wind-driven generator detection device in vacant lot
CN110410280A (en) * 2019-07-12 2019-11-05 湖南城市学院 A kind of blower inspection device
CN110816708A (en) * 2019-12-13 2020-02-21 邝弘亮 Biped walking robot based on 3-RUU parallel mechanism
CN112720421A (en) * 2021-01-12 2021-04-30 山东理工大学 Double-guide-rail type planar robot with telescopic rod
CN112720420A (en) * 2021-01-12 2021-04-30 山东理工大学 Double-guide-rail type planar robot with parallelogram
CN113826973A (en) * 2021-09-27 2021-12-24 国网江苏省电力有限公司扬州供电分公司 Safety protection gloves for working aloft
CN114148429A (en) * 2021-12-13 2022-03-08 哈尔滨工业大学 Wearable parallel connection structure biped robot capable of assisting in walking

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CN109732566A (en) * 2018-12-24 2019-05-10 武汉大学 A kind of mixed connection biped climbing robot
CN110203298A (en) * 2019-06-27 2019-09-06 北京克莱明科技有限公司 A method of control climbing robot vola is accurately contacted with steel construction plane
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CN110361396A (en) * 2019-08-12 2019-10-22 浙江工业大学 A kind of collaborative blade of wind-driven generator detection device in vacant lot
CN110361396B (en) * 2019-08-12 2024-01-12 浙江工业大学 Air-ground cooperation type wind driven generator blade detection device
CN110816708A (en) * 2019-12-13 2020-02-21 邝弘亮 Biped walking robot based on 3-RUU parallel mechanism
CN112720420A (en) * 2021-01-12 2021-04-30 山东理工大学 Double-guide-rail type planar robot with parallelogram
CN112720420B (en) * 2021-01-12 2022-03-25 山东理工大学 Double-guide-rail type planar robot with parallelogram
CN112720421B (en) * 2021-01-12 2022-03-25 山东理工大学 Double-guide-rail type planar robot with telescopic rod
CN112720421A (en) * 2021-01-12 2021-04-30 山东理工大学 Double-guide-rail type planar robot with telescopic rod
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CN114148429B (en) * 2021-12-13 2022-09-09 哈尔滨工业大学 Wearable parallel connection structure biped robot capable of assisting in walking

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Application publication date: 20180615