CN108945136A - A kind of spherical roll of joint type climbs converting machine people - Google Patents
A kind of spherical roll of joint type climbs converting machine people Download PDFInfo
- Publication number
- CN108945136A CN108945136A CN201810744015.7A CN201810744015A CN108945136A CN 108945136 A CN108945136 A CN 108945136A CN 201810744015 A CN201810744015 A CN 201810744015A CN 108945136 A CN108945136 A CN 108945136A
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- mechanical
- robot
- joint
- machine people
- joint type
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of spherical rollings of joint type to climb converting machine people, it includes idler wheel (1), axis body (2), plummet rotary electric machine (3), mechanical foot (4), end cradle head (5), mechanical shank (6), mechanical elbow joint (7), principal arm (8) and supporting rib (9).Operation of the rolling robot under complex road condition can be achieved in the present invention, it is not in unbalance in bumpy road, it is rolled and is advanced by idler wheel on smooth road, it can be realized quick operation, and then passes through pedipulator in complex road surface and creep advance, the light movement of complex road surface can be achieved, it is simple and reliable for structure.
Description
Technical field
The present invention relates to a kind of robot, converting machine people is climbed in specifically a kind of spherical rolling of joint type.
Background technique
Existing rolling robot can not be run under complex road condition, and it is very big a possibility that unbalance occur on mother-in-law road surface of running.
Summary of the invention
In view of the above existing problems in the prior art, the present invention provides a kind of spherical rollings of joint type to climb converting machine people, has
Two kinds of progressions, the first is to provide reaction force by intermediate rotation plummet in spherical state to realize that robot rolls, the
Two kinds are that type ring mechanical foot expansion in joint is realized that robot creeps forward, it can be achieved that fortune of the rolling robot under complex road condition
Row, is not in unbalance in bumpy road, is rolled and is advanced by idler wheel on smooth road, can be realized quick operation,
And complex road surface then pass through pedipulator creep advance, it can be achieved that complex road surface light moving member.
To achieve the goals above, the technical solution adopted by the present invention is that: converting machine people is climbed in a kind of spherical rolling of joint type,
It include idler wheel, axis body, plummet rotary electric machine, mechanical foot, end cradle head, mechanical shank, mechanical elbow joint, principal arm and
Supporting rib.
The axis body includes rotating electric machine, emulsion, piston and screw rod；Screw rod is driven to move by rotating electric machine
Emulsion is distributed in by different proportion that axis body is intracavitary by adjusting piston position by piston, thus realize the movement of center of gravity,
Cause the frictional force of the right and left to change, and then influence the acceleration and speed of robot, realizes robot in spherical state
Steering when rolling.
The plummet rotary electric machine drives plummet to provide reaction force and realize that robot rolls.
The mechanical foot, end cradle head, mechanical shank, mechanical elbow joint, principal arm constitute the machinery of robot
The motor of foot, principal arm and axis body junction adjusts the position of principal arm, the motor control in mechanical elbow joint and end cradle head
The rotational angle of mechanical shank and mechanical foot, the walking of robot is realized by the linkage in each joint.
Detailed description of the invention
Fig. 1 is that converting machine people's schematic illustration is climbed in a kind of spherical rolling of joint type provided in an embodiment of the present invention；
In figure: 1, idler wheel, 2, axis body, 3, plummet rotary electric machine, 4, mechanical foot, 5, end cradle head, 6, mechanical shank, 7, machine
Tool elbow joint, 8, principal arm, 9, supporting rib.
Fig. 2 is axis body schematic illustration provided in an embodiment of the present invention；
In figure: 2.1, rotating electric machine, 2.2, emulsion, 2.3, piston, 2.4, screw rod.
Fig. 3 is robot rolling condition schematic illustration provided in an embodiment of the present invention.
In figure: 3, plummet rotary electric machine.
Fig. 4 is robot crawling state principle schematic diagram provided in an embodiment of the present invention；
In figure: 2, axis body, 4, mechanical foot, 5, end cradle head, 6, mechanical shank, 7, mechanical elbow joint, 8, principal arm.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, be that converting machine people's schematic illustration is climbed in a kind of spherical rolling of joint type provided in an embodiment of the present invention,
It include idler wheel 1, axis body 2, plummet rotary electric machine 3, mechanical foot 4, end cradle head 5, mechanical shank 6, mechanical elbow joint 7,
Principal arm 8 and supporting rib 9.Converting machine people is climbed in the spherical rolling of the joint type can realize fortune of the rolling robot under complex road condition
Row, is not in unbalance in bumpy road, is rolled and is advanced by idler wheel on smooth road, can be realized quick operation,
And complex road surface then pass through pedipulator creep advance, it can be achieved that complex road surface light movement.
Referring to Fig. 2, being that a kind of joint type provided in an embodiment of the present invention is spherical rolls the axis body principle for climbing converting machine people
Schematic diagram, it includes rotating electric machine 2.1, emulsion 2.2, piston 2.3 and screw rod 2.4；Screw rod is driven by rotating electric machine 2.1
2.4 and then mobile piston 2.3, by adjusting 2.3 position of piston, it is intracavitary that emulsion (2.2) by different proportion is distributed in axis body,
To realize the movement of center of gravity, the frictional force of the right and left is caused to change, and then influences the acceleration and speed of robot,
Realize steering of the robot when spherical state rolls.
Referring to Fig. 3, being that a kind of joint type provided in an embodiment of the present invention is spherical rolls the robot rolling for climbing converting machine people
Dynamic status diagram, the plummet rotary electric machine 3 drive plummet rotation to provide reaction force and realize that robot rolls.
Referring to Fig. 4, being that the robot that converting machine people is climbed in a kind of spherical rolling of joint type provided in an embodiment of the present invention is climbed
Row status diagram, the mechanical foot 4, end cradle head 5, mechanical shank 6, mechanical elbow joint 7, principal arm 8 constitute machine
The position of the motor adjustment principal arm of the machinery foot of device people, principal arm 8 and 2 junction of axis body, mechanical elbow joint 7 and end cradle head
The rotational angle of motor control machinery shank 5 and mechanical foot 4 in 5, the walking of robot is realized by the linkage in each joint.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (4)
1. converting machine people is climbed in a kind of spherical rolling of joint type, it includes idler wheel (1), axis body (2), plummet rotary electric machine (3), machinery
Foot (4), end cradle head (5), mechanical shank (6), mechanical elbow joint (7), principal arm (8) and supporting rib (9)；It can run
Winnowing with a dustpan on road surface is not in unbalance, is rolled and is advanced by idler wheel on smooth road, can be realized quick operation, and in complexity
Road surface then pass through pedipulator creep advance, it can be achieved that complex road surface light movement.
2. converting machine people is climbed in the spherical rolling of a kind of joint type according to claim 1, which is characterized in that the axis body
It (2) include rotating electric machine (2.1), emulsion (2.2), piston (2.3) and screw rod (2.4)；It is driven by rotating electric machine (2.1)
Emulsion (2.2) is distributed by screw rod (2.4) and then movement piston (2.3) by adjusting piston (2.3) position by different proportion
It is intracavitary in axis body, to realize the movement of center of gravity, the frictional force of the right and left is caused to change, and then influence adding for robot
Speed and speed realize steering of the robot when spherical state rolls.
3. converting machine people is climbed in the spherical rolling of a kind of joint type according to claim 1, which is characterized in that the plummet turns
Dynamic motor (3) drive plummet to provide reaction force and realize that robot rolls.
4. converting machine people is climbed in the spherical rolling of a kind of joint type according to claim 1, which is characterized in that the mechanical foot
(4), end cradle head (5), mechanical shank (6), mechanical elbow joint (7), principal arm (8) constitute the machinery foot of robot, main
Arm (8) and the motor of axis body (2) junction adjust the position of principal arm, the electricity in mechanical elbow joint (7) and end cradle head (5)
Machine controls the rotational angle of mechanical shank (5) and mechanical foot (4), and the walking of robot is realized by the linkage in each joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810744015.7A CN108945136A (en) | 2018-07-09 | 2018-07-09 | A kind of spherical roll of joint type climbs converting machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810744015.7A CN108945136A (en) | 2018-07-09 | 2018-07-09 | A kind of spherical roll of joint type climbs converting machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108945136A true CN108945136A (en) | 2018-12-07 |
Family
ID=64483478
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810744015.7A Withdrawn CN108945136A (en) | 2018-07-09 | 2018-07-09 | A kind of spherical roll of joint type climbs converting machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108945136A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112572628A (en) * | 2020-12-22 | 2021-03-30 | 中国科学院合肥物质科学研究院 | Bionic multi-mode crawling, rolling, attaching and bouncing robot coping with complex environment |
| CN113335412A (en) * | 2021-05-12 | 2021-09-03 | 上海工程技术大学 | Gorilla bionic walking robot |
| CN113428257A (en) * | 2021-07-29 | 2021-09-24 | 北京交通大学 | Six-foot platform of reconfigurable space closed-chain leg mechanism |
Citations (6)
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|---|---|---|---|---|
| CN101386173A (en) * | 2008-11-10 | 2009-03-18 | 战强 | Environmental detection spherical robot |
| CN201951576U (en) * | 2011-03-07 | 2011-08-31 | 中国兵器工业系统总体部 | Wheel leg combined type walking and climbing mechanism |
| CN106892013A (en) * | 2017-03-07 | 2017-06-27 | 中国民航大学 | The spherical unmanned vehicle of multipurpose |
| CN107187509A (en) * | 2017-05-17 | 2017-09-22 | 上海大学 | A kind of ball shape robot with walking function |
| CN107499405A (en) * | 2017-08-29 | 2017-12-22 | 歌尔科技有限公司 | Ball shape robot |
| CN107719500A (en) * | 2017-11-23 | 2018-02-23 | 滨州学院 | A kind of spherical rescue facility |
-
2018
- 2018-07-09 CN CN201810744015.7A patent/CN108945136A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101386173A (en) * | 2008-11-10 | 2009-03-18 | 战强 | Environmental detection spherical robot |
| CN201951576U (en) * | 2011-03-07 | 2011-08-31 | 中国兵器工业系统总体部 | Wheel leg combined type walking and climbing mechanism |
| CN106892013A (en) * | 2017-03-07 | 2017-06-27 | 中国民航大学 | The spherical unmanned vehicle of multipurpose |
| CN107187509A (en) * | 2017-05-17 | 2017-09-22 | 上海大学 | A kind of ball shape robot with walking function |
| CN107499405A (en) * | 2017-08-29 | 2017-12-22 | 歌尔科技有限公司 | Ball shape robot |
| CN107719500A (en) * | 2017-11-23 | 2018-02-23 | 滨州学院 | A kind of spherical rescue facility |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112572628A (en) * | 2020-12-22 | 2021-03-30 | 中国科学院合肥物质科学研究院 | Bionic multi-mode crawling, rolling, attaching and bouncing robot coping with complex environment |
| CN113335412A (en) * | 2021-05-12 | 2021-09-03 | 上海工程技术大学 | Gorilla bionic walking robot |
| CN113428257A (en) * | 2021-07-29 | 2021-09-24 | 北京交通大学 | Six-foot platform of reconfigurable space closed-chain leg mechanism |
| CN113428257B (en) * | 2021-07-29 | 2022-06-24 | 北京交通大学 | Six-foot platform of reconfigurable space closed-chain leg mechanism |
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| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181207 |
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| WW01 | Invention patent application withdrawn after publication |