CN108674516A - A kind of multi-functional six sufficient spider climbing robot - Google Patents
A kind of multi-functional six sufficient spider climbing robot Download PDFInfo
- Publication number
- CN108674516A CN108674516A CN201810483908.0A CN201810483908A CN108674516A CN 108674516 A CN108674516 A CN 108674516A CN 201810483908 A CN201810483908 A CN 201810483908A CN 108674516 A CN108674516 A CN 108674516A
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- pedipulator
- robot
- steering engine
- control panel
- functional
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- 241000239290 Araneae Species 0.000 title claims abstract description 27
- 230000009194 climbing Effects 0.000 title claims description 24
- 230000005540 biological transmission Effects 0.000 claims abstract description 20
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims abstract description 13
- 229910052744 lithium Inorganic materials 0.000 claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 13
- 230000033001 locomotion Effects 0.000 claims abstract description 9
- 230000002463 transducing effect Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 3
- 210000001364 upper extremity Anatomy 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 5
- 230000004888 barrier function Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000009193 crawling Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000011664 nicotinic acid Substances 0.000 description 2
- 238000005192 partition Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
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
- B62D57/032—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
Abstract
It creeps people the invention discloses a kind of multi-functional six sufficient spiders comprising：Executing agency, including pedipulator, light-duty connecting plate and driving steering engine, the pedipulator include six legs, are divided into forward and backward pedipulator, the steering engine is fixed on pedipulator, and for every pedipulator there are two steering engine, every pedipulator is divided into two parts up and down；Driving mechanism, including wireless transmission, antenna, control panel and 12V lithium batteries, the antenna are mounted on control panel, and the wireless transmission sends out drive signal, and the antenna is passed to control panel after receiving signal, and then drives executing agency's movement；Sensing mechanism, including high-definition camera, pressure sensor and distance measuring sensor, the high-definition camera is mounted on machine human body front end, and the pressure sensor is mounted on the pedipulator bottom, and the distance measuring sensor is mounted at left and right sides of the high-definition camera.Not only creep speed is fast by the present invention, but also stability is good, makes the simpler convenience of operation gesture stability of robot.
Description
Technical field
The present invention relates to robotic technology fields, more particularly to a kind of multi-functional six sufficient spider climbing robot.
Background technology
Along with the growth of science and technology, the mankind realize intelligent and automation gradually in life, production.Recent years
Come, robotics development is swift and violent, and miscellaneous robot progresses into people’s lives.Our living standard also because
The addition of robot becomes effectively.An important branch of the climbing robot as robot, since its is outstanding
Outstanding stationarity in locomitivity and complex environment, climbing robot is gradually commonly used by people for execution pipeline detection, ruins are searched
The tasks such as rope.For original generation spider climbing robot having been devised by Bionic Design, move ahead device, Image Acquisition and
The deficiency of transmission etc., using spider as prototype, using practicability, flexibility, economy as principle, design is a relative to original
It is more energy saving and stronger bionic machine spider is adapted to terrain environment with bigger carrying capacity, it can realize in the good of land
It creeps well, preferably surveys topography and geomorphology, enable scientific research personnel's timely Information, go to explore by machine spider
Cave, the rugged mountain area of climbing etc. may be that mankind's exploration obtains information in advance, and whether perception is dangerous, reduces unnecessary wound
It dies.
Invention content
It is the technical issues of in the presence of the present invention mainly solution prior art, fast, steady to provide a kind of creep speed
Qualitative good, the convenient spider climbing robot of manipulation.
The above-mentioned technical problem of the present invention is mainly to be addressed by following technical proposals：
The present invention provides a kind of multi-functional six sufficient spider climbing robot comprising：
Executing agency, including pedipulator, light-duty connecting plate and driving steering engine, the pedipulator includes six legs, before being divided into
Pedipulator and rear pedipulator, the steering engine are fixed on the pedipulator, and every pedipulator is equipped with the steering engine two, described
Every pedipulator is divided into two parts, two parts up and down and is linked together by light-duty connecting plate, and the steering engine is individually placed to machinery
On two parts of leg, while two parts of pedipulator are driven, every pedipulator all includes three degree of freedom；
Driving mechanism, including wireless transmission section, antenna, control panel and 12V lithium batteries, the antenna are mounted on the control
In making sheet, the wireless transmission section sends out drive signal, and the antenna is passed to control panel after receiving signal, and then drives institute
State executing agency's movement；
Sensing mechanism, including high-definition camera, pressure sensor part and ranging transducing part, the high-definition camera peace
Mounted in the body front end of robot, the pressure sensor part is mounted on the bottom of the pedipulator, and every pedipulator is equal
Including a pressure sensor part, the distance measuring sensor is mounted on the left and right sides of the high-definition camera, per side each one
It is a.
Further, the executing agency mainly includes six pedipulators of robot, and the pedipulator is evenly distributed on
The both sides of machine human body, every pedipulator shape in the arc-shaped, and numerous rectangular channels are provided on the pedipulator, each rectangle
Laid out in parallel, every pedipulator include three degree of freedom to slot from top to bottom, keep robot motion more flexible.
Further, there are two steering engines, two steering engines to be separately mounted to two parts of pedipulator for installation on the pedipulator
On, each steering engine is mounted on by bolt on pedipulator, and each steering engine drives pedipulator simultaneously respectively.
Further, the pedipulator is divided into preceding pedipulator and rear pedipulator, and two preceding pedipulators are mounted on the machine person
The front end of body, for every pedipulator all at the arc of bending, the preceding pedipulator keeps certain angle of inclination with vertical direction, to
Top rake, the rear pedipulator tilted rearward certain angle, every pedipulator are designed with rectangular channel.
Further, the Sensor section includes press detection sensor, and the pressure sensor is mounted on six machines
There is a circle rubber pad bottom of tool leg around sensor, and for protecting sensor not to be damaged, each sensor is straight
It connects and is connected with the control panel, the antenna is connected mounted on machine human body tail portion with the control panel, the high definition
Camera is mounted on robot front end body, is distributed with the antenna symmetry.
Further, the driving mechanism includes a 12V lithium battery, and the lithium battery is placed in machine human body
The bottom end in portion, top are equipped with one layer of partition board, and the control panel is placed on the upper surface of described partition board, the control panel and the rudder
Machine is connected with lithium battery.
Further, the wireless transmission section adds the remote control control of touch screen combination, the nothing using remote sensing button
Line transmission section is mutually echoed with the antenna, and the wireless transmission section sends out signal, and the antenna carries out reception signal, described
Antenna is connected to the control panel, and then operational order is transferred to control panel, the sensor mechanism with the control panel
It is connected, the sensor mechanism receives transducing signal, and signal is passed to control panel.
The beneficial effects of the present invention are：Manipulation instruction is write by wireless transmission section, is received and is ordered by antenna, in turn
It is communicated to control panel, the steering engine on control panel driving pedipulator works, and drives pedipulator to advance by steering engine, robot
The pressure sensor of pedipulator bottom can incude the pressure contacted between sole and ground, and then judge whether pedipulator steps on sky,
It both ensure that robot can rapidly creep in this way, and stability is fine, it is therefore prevented that robot is absorbed in groove, robot
Scene around the high-definition camera shooting of front end body, distance measuring sensor will detect the barrier in front of creeping, actively in time
Carry out avoid, six pedipulators keep synchronous coordinations movement, as the executing agency of robot, stability of not only creeping
It is good, and balance is more preferable, meanwhile, it is acted on by the distance measuring sensor in front of robot, you can accurately change spider machine
The direction of advance and angle of people, to make the simpler convenience of operation posture of robot.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is the front view of a kind of multi-functional six sufficient spider climbing robots of the present invention；
Fig. 2 is the vertical view of a kind of multi-functional six sufficient spider climbing robots of the present invention；
Fig. 3 is the bottom view of a kind of multi-functional six sufficient spider climbing robots of the present invention；
Fig. 4 is the left view of a kind of multi-functional six sufficient spider climbing robots of the present invention；
Fig. 5 is the body structure three-view diagram of a kind of multi-functional six sufficient spider climbing robots of the present invention；
Fig. 6 is the structural schematic diagram of the preceding pedipulator of a kind of multi-functional six sufficient spider climbing robots of the present invention.
Specific implementation mode
The preferred embodiment of the present invention is described in detail below in conjunction with the accompanying drawings, so that advantages and features of the invention energy
It is easier to be readily appreciated by one skilled in the art, so as to make a clearer definition of the protection scope of the present invention.
Refering to fig. 1 shown in -3, multi-functional six sufficient spider climbing robot of one kind of the invention, including：
Executing agency, including mechanical foreleg 2, mechanical back leg 3, light-duty connecting plate 10 and driving steering engine 12,2 He of mechanical foreleg
Mechanical back leg 3 is made of two parts, and two parts are linked together by light-duty connecting plate 10, all includes above every pedipulator
Two steering engines 12, two steering engines respectively drive two parts of pedipulator, and mechanical foreleg 2 and the bottom of mechanical back leg 3 are respectively mounted
By pressure sensor 16, it is distributed rectangular channel 13 side by side on mechanical foreleg 2 and mechanical back leg 3；
Sensing mechanism, including high-definition camera 1, pressure sensor part 16 and ranging transducing part 17, high-definition camera 1
Protective cover is housed on the front end of machine human body 4, camera, pressure sensor part 16 is mounted on robotic
The bottom of foreleg 2 and mechanical back leg 3 is also devised with a circle rubber pad, ranging transducing part 17 around pressure sensor part 16
Mounted on the left and right sides of high-definition camera 1, and each side there are one ranging transducing parts 17；
Driving mechanism, including wireless transmission section, antenna 15, control panel and 12V lithium batteries, wireless transmission section will operate
Signal sends antenna 15 to, and antenna 15 is connected to control panel, and after control panel receives wireless signal, driving steering engine 12 is driven
Mechanical foreleg 2 and mechanical back leg 3；
Mechanical foreleg 2 and mechanical back leg 3 are mounted on machine human body 4, are connected on 41,42 positions, robot
Body 4 is divide into upper part and lower part, between be fixed together by four symmetrical connecting valves 9；
The present invention writes manipulation instruction by wireless transmission section, is received and is ordered by antenna 15, and then is communicated to control panel,
Steering engine 12 on control panel driving pedipulator 2 and 3 works, and drives pedipulator 2,3 to advance by steering engine 12, machinery is man-machine
Tool leg 2,3 bottoms pressure sensor 16 can incude the pressure contacted between sole and ground, and then whether judge pedipulator 2,3
Sky to be stepped on, both ensure that robot can rapidly creep in this way, and stability is fine, it is therefore prevented that robot is absorbed in groove,
Scene around the shooting of high-definition camera 1 of robot front end body, distance measuring sensor 17 will detect the barrier in front of creeping,
It is actively timely avoided, three pairs of pedipulators 2,3,7 keep synchronous coordination movement, as the executing agency of robot, no
Stability of only creeping is good, and balance is more preferable, meanwhile, it is acted on by the distance measuring sensor in front of robot, you can accurately
The direction of advance and angle for changing spider robot, to make the simpler convenience of operation posture of robot.
Specifically, pedipulator shares six, i.e., a pair of mechanical foreleg 2, mechanical back leg 3 and intermediate pedipulator 7 work as driving
After steering engine 12 receives wireless transmission signal, six pedipulators 2,3 and 7 can crawl movement, this hair under the driving of steering engine 12
In bright, in order to during robot crawling advances, make a misstep and be absorbed in into when encountering groove, pacify in pedipulator bottom
Pressure sensor part 16 is filled, when there is one to encounter groove in six pedipulators 2,3 and 7, pressure sensor 16 can incude
Pedipulator 2,3 and the pressure size between 7 and ground illustrate pedipulator 2,3 when pressure sensor 16 detects that pressure is zero
With 7 not in contact with to ground, this, which is pedipulator, to withdraw in time, avoid robot and be absorbed in groove.
Shown in Figure 4 and 5, machine human body 4 is divide into upper part and lower part, between by four symmetrical connecting valves
9 are fixed together, and six pedipulators 2,3 and 7 of robot, installation site 41 and 42, six machines are installed on machine human body 4
Tool leg is driven by steering engine 12, and every pedipulator contains 3 degree of freedom, and preceding pedipulator 2 tilts forwards, when steering engine 12 drives,
Preceding pedipulator 2 strides forward, and rear pedipulator 3 gradually follows up；
Driving device in the embodiment of the present invention includes 12V lithium batteries, antenna 15 and control panel, and the lithium battery of 12V can be with
Endlessly power is provided for the driving of robot, and then steering engine 12 is allow to drive pedipulator 2,3 and 7, is passed using wireless
Defeated device carries out the movement of control robot, solves the limitation of robot motion well；
As shown in fig.6, the rectangular channel 13 from top to bottom arranged is designed on every pedipulator 2,3 and 7, using rectangle
Slot 13 designs, and can both mitigate the quality of pedipulator totality, while can also reduce the resistance of robot during exercise；
Specifically, during exercise, the high-definition camera 1 of 4 front end of machine human body can shoot robot periphery for robot
Ambient conditions, the image recording taken gets off, is transferred in operation display by control panel；
In the embodiment of the present invention, personnel carry out external remote control in order to facilitate the operation, using being wirelessly transferred controlling party
Formula, wireless transmission section add the remote control control of touch screen combination, robot that signal is passed to control panel using remote sensing button, by
Control panel controls steering engine 12 to drive pedipulator 2,3 and 7；
The operation principle of the present invention is that：
Six sufficient spider climbing robots are put into the region for needing to detect, robot under the manipulation of wireless transmission, by
Antenna 15 receives wireless signal, then signal is passed to control panel, and control panel starts to drive steering engine 12, pedipulator 2,3 and in rudder
Start advance of creeping under the driving of machine 12, the high-definition camera 1 of 4 front end of machine human body is with can shooting the landform around collecting
Looks and information the case where need detection, while passing to operation display, when robot encounters ditch in crawling process by signal
When slot, the pressure sensor 16 of pedipulator 2,3 and 7 bottoms can sense that pedipulator and geostatic pressure are zero, illustrate pedipulator not
Energy safety knock can be withdrawn in time to ground, at this time pedipulator 2,3 and 7, and rectangular channel 13 is provided on every pedipulator, works as robot
When the larger situation that meets obstructions, rectangular channel 13 can mitigate resistance, so that pedipulator 2,3 and 7 is easily creeped, work as machine
People creep encounter front and have barrier when, the distance measuring sensors 17 of 1 both sides of high-definition camera, which can sense front, obstacle,
Then information is transmitted to control panel, the steering or u-turn of robot is controlled by control panel.
More than, specific implementation mode only of the invention, but scope of protection of the present invention is not limited thereto, it is any without
The change or replacement that creative work is expected are crossed, should be covered by the protection scope of the present invention.Therefore, protection of the invention
Range should be determined by the scope of protection defined in the claims.
Claims (7)
1. a kind of multi-functional six sufficient spider climbing robot, which is characterized in that including：
Executing agency, including pedipulator, light-duty connecting plate and driving steering engine, the pedipulator include six legs, are divided into preceding machinery
Leg and rear pedipulator, the steering engine are fixed on the pedipulator, and every pedipulator is equipped with the steering engine two, every described
Pedipulator is divided into two parts, two parts up and down and is linked together by connecting plate, and the steering engine is individually placed to two of pedipulator
On point, while two parts of pedipulator are driven, every pedipulator all includes three degree of freedom；
Driving mechanism, including wireless transmission section, antenna, control panel and 12V lithium batteries, the antenna are mounted on the control panel
On, the wireless transmission section sends out drive signal, and the antenna is passed to control panel after receiving signal, and then is held described in driving
Row mechanism kinematic；
Sensing mechanism, including high-definition camera, pressure sensor part and ranging transducing part, the high-definition camera are mounted on
The body front end of robot, the pressure sensor part are mounted on the bottom of the pedipulator, and every pedipulator includes
One pressure sensor part, the distance measuring sensor are mounted on the left and right sides of the high-definition camera, per each one of side.
2. a kind of multi-functional six sufficient spider climbing robot as described in claim 1, which is characterized in that executing agency's packet
Containing six pedipulators, every pedipulator is divided into two parts composition, and the steering engine is separately mounted to two parts of the pedipulator,
Respectively every pedipulator provides power, and described every pedipulator two parts are fixed together using light-duty connecting plate.
3. a kind of multi-functional six sufficient spider climbing robot as described in claim 1, which is characterized in that the driving mechanism packet
Wireless transmission section, antenna, control panel and 12V lithium batteries are included, the robot is controlled using wireless transmission, the antenna
It receives wireless transmission signal and sends control panel to, the robot is using the lithium battery of 12V as power source.
4. a kind of multi-functional six sufficient spider climbing robot as claimed in claim 1 or 2, which is characterized in that every machine
There are one pressure sensor part, the high-definition camera is mounted on machine human body front end, described for the bottom installation of tool leg
Distance measuring sensor is distributed in the both sides of the high-definition camera, and respectively there are one high-definition cameras per side.
5. multi-functional six sufficient spider climbing robot of one kind as described in claim 3 or 4, which is characterized in that the driving machine
Structure includes 12V lithium batteries, and the battery is fixed on robot body interior, and the lithium battery is connected with the steering engine, is steering engine
Power source is provided, the steering engine further drives the pedipulator to be moved.
6. a kind of multi-functional six sufficient spider climbing robot as claimed in claim 1 or 2, which is characterized in that every machine
Tool leg is divided into two parts, and every pedipulator all contains three degree of freedom, and six pedipulators are evenly distributed on machine human body
Both sides.
7. a kind of multi-functional six sufficient spider climbing robot as claimed in claim 1 or 2, it is characterised in that set using six legs
The movement of meter, robot is more stablized, and balance is more preferable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810483908.0A CN108674516A (en) | 2018-05-19 | 2018-05-19 | A kind of multi-functional six sufficient spider climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810483908.0A CN108674516A (en) | 2018-05-19 | 2018-05-19 | A kind of multi-functional six sufficient spider climbing robot |
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| Publication Number | Publication Date |
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| CN108674516A true CN108674516A (en) | 2018-10-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810483908.0A Pending CN108674516A (en) | 2018-05-19 | 2018-05-19 | A kind of multi-functional six sufficient spider climbing robot |
Country Status (1)
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111532354A (en) * | 2020-04-02 | 2020-08-14 | 北京建筑大学 | Walking device with multiple movement modes |
| CN116718236A (en) * | 2023-08-10 | 2023-09-08 | 山东联合能源管道输送有限公司 | Detection system based on computer vision and use method |
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| CN208325454U (en) * | 2018-05-19 | 2019-01-04 | 上海海洋大学 | A kind of multi-functional six sufficient spider climbing robot |
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