CN201367055Y - Multi-limb mobile robot - Google Patents
Multi-limb mobile robot Download PDFInfo
- Publication number
- CN201367055Y CN201367055Y CNU2009201434587U CN200920143458U CN201367055Y CN 201367055 Y CN201367055 Y CN 201367055Y CN U2009201434587 U CNU2009201434587 U CN U2009201434587U CN 200920143458 U CN200920143458 U CN 200920143458U CN 201367055 Y CN201367055 Y CN 201367055Y
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Abstract
The utility model relates to a multi-limb mobile robot, which comprises a robot body. Limbs for moving the robot body are arranged on the outer side of the robot body, a detection device, a control device, a power source and a driving device are arranged in the robot body, wherein the driving device is connected with the limbs via driving shafts, the limbs includes rollers and cams, the rollers and the cams are arranged on two sides of the body, and power output shafts of the driving device are respectively connected with the rollers and the cams. The multi-limbs mobile robot has faster running speed, better maintenance and lower cost, and is simpler, more reliable, more applicable and more feasible.
Description
Technical field
The utility model relates to a kind of mobile robot, relates in particular to a kind of mobile robot with a plurality of mobile limbs.
Background technology
At present in multi-limbs mobile robot, adopt bionical limb foot technology to carry out crawling exercises mostly, not only creeping, it is slow to move, and mechanism's complexity of implementation crawling exercises, the creep operation trouble point is more, and reliability is lower, and maintainability is also relatively poor, formation and manufacturing cost are all higher, and difficulty is wanted in the long-term practice utilization relatively.
Summary of the invention
The purpose of the utility model patent is to overcome the deficiency of above-mentioned multi-limbs mobile robot, provides a kind of running velocity to safeguard sooner, more simple and reliable, good, cost is lower, the multi-limbs mobile robot of applicable feasibility more.
The utility model is achieved through the following technical solutions:
A kind of multi-limbs mobile robot, include robot body, the robot body outside is provided with in order to the limb foot that makes it to move, and is provided with detecting device, control setup, power supply and actuating device in the robot body, actuating device is connected with the limb foot by transmission shaft, and described limb foot is roller and cam; Roller and cam are arranged on the both sides of described body, and the power take-off shaft of actuating device is connected with cam with roller respectively.
A kind of multi-limbs mobile robot, described actuating device are reducing motor; Side near roller and cam in body is provided with roller reducing motor and cam reducing motor; The roller reducing motor is connected with roller by power take-off shaft, and the cam reducing motor is connected with cam by power take-off shaft.
A kind of multi-limbs mobile robot, described roller reducing motor and roller bonded assembly power take-off shaft are hollow power take-off shaft, described cam reducing motor and cam bonded assembly power take-off shaft are solid power take-off shaft; Solid power take-off shaft sky is enclosed within the hollow power take-off shaft; Described roller and cam are same axle center.
A kind of multi-limbs mobile robot, an above-described robot body joins end to end by universal-joint.
A kind of multi-limbs mobile robot, described cam are disc cam.
A kind of multi-limbs mobile robot, described more than one robot body joins end to end, in junction near two robot bodies, be provided with described roller and cam in the tail end both sides of previous robot body or the front end both sides of a back robot body, be provided with described reducing motor on the tail end of previous robot body or on the front end of a back robot body.
A kind of multi-limbs mobile robot, synchronous rolling or asynchronous rolling when a plurality of cams on described a plurality of robot bodies roll.
The utility model mode that is movably walking is the duplex setting, and each limb foot node location of creeping is provided with roller and cam face limb foot, to adapt to different road conditions operations, raising robot carrying capacity, crossing over blockage and hill climbing ability.Because robot adopts the design of many limbs foot, and each limb foot node of creeping is roller and the setting of cam duplex, has clear superiority than the sufficient technology of previous bionical limb:
1. can directly driving, effectively improve robot running velocity and work efficiency with roller than flat road surface;
2. the operation of obstacle or uneven road conditions is being arranged, available cam-like limb foot is creeped mobile, effectively improves robot and passes through and obstacle climbing ability;
3. mechanism design is simple in structure, and cost is lower, and the serviceability height is beneficial to maintaining;
4. actual exploitation is worth higher, and applicability is strong.Increase executive devices such as corresponding manipulator on this basis, can be used as specialized robot, be used for dangerous situations such as mine detection, explosive detection, dismounting, ignition as military robot, be used for the detection of poisonous and harmful place, carrying etc.
Description of drawings
Fig. 1 is the utility model multi-limbs mobile robot structural representation.
Fig. 2 is the utility model Fig. 1 lateral plan constructional drawing.
Fig. 3 utilizes the cam asynchronous system scheme drawing of creeping for the utility model multi-limbs mobile robot.
Fig. 4 utilizes the cam method of synchronization scheme drawing of creeping for the utility model multi-limbs mobile robot.
Fig. 5 utilizes roller roll mode scheme drawing for the utility model multi-limbs mobile robot.
The specific embodiment
Referring to Fig. 1,2,3,4,5, the utility model includes robot body 6, robot body 6 outsides are provided with in order to roller 2 that makes it to move and cam 1, be provided with detecting device 11, control setup 5, power supply 8 and reducing motor in the robot body 6, roller 2 and cam 1 are arranged on the both sides of robot body 6, and the side near roller 2 and cam 1 in robot body 6 is provided with roller reducing motor 4 and cam reducing motor 3; Roller reducing motor 4 is connected with roller 2 by hollow power take-off shaft 9, and cam reducing motor 3 is connected with cam 1 by solid power take-off shaft 10.Solid power take-off shaft 10 skies are enclosed within the hollow power take-off shaft 9; Roller 2 is same axle center with cam 1.
Detect the road surface situation by detecting device 11, the road surface signal of being correlated with can be delivered to control setup 5, control setup 5 sends the priority of the startup initial time point of control signal corresponding and control front and back reducing motor, can make cam 1 asynchronous rotation or rotation synchronously, mobile thereby the rotation of cam 1 drives moving ahead of robot body 6.But when running into more smooth road conditions.Detecting device 11 sends the road conditions signal and gives control setup 5, and control setup 5 sends control signal vertically erects cam 1 in advance, and roller 2 is directly contacted with the road surface, and roller 2 rotates and can drive machines human body 6 move.
An above robot body 6 joins end to end by universal-joint 7.In junction near two robot bodies 6, be provided with roller 2 and cam 1 in the tail end both sides of previous robot body 6 or the front end both sides of a back robot body 6, be provided with reducing motor on the tail end of previous robot body 6 or on the front end of a back robot body 6.
All the other are with embodiment 1.
Claims (7)
1, a kind of multi-limbs mobile robot, include robot body, the robot body outside is provided with the limb foot in order to make it to move, be provided with detecting device, control setup, power supply and actuating device in the robot body, actuating device is connected with the limb foot by transmission shaft, it is characterized in that described limb foot is roller and cam; Roller and cam are arranged on the both sides of described body, and the power take-off shaft of actuating device is connected with cam with roller respectively.
2, a kind of multi-limbs mobile robot according to claim 1 is characterized in that described actuating device is a reducing motor; Side near roller and cam in body is provided with roller reducing motor and cam reducing motor; The roller reducing motor is connected with roller by power take-off shaft, and the cam reducing motor is connected with cam by power take-off shaft.
3, a kind of multi-limbs mobile robot according to claim 2, it is characterized in that described roller reducing motor and roller bonded assembly power take-off shaft are hollow power take-off shaft, described cam reducing motor and cam bonded assembly power take-off shaft are solid power take-off shaft; Solid power take-off shaft sky is enclosed within the hollow power take-off shaft; Described roller and cam are same axle center.
4, according to any described a kind of multi-limbs mobile robot of claim 1～3, it is characterized in that an above-described robot body joins end to end by universal-joint.
5, according to any described a kind of multi-limbs mobile robot of claim 1～3, it is characterized in that described cam is a disc cam.
6, a kind of multi-limbs mobile robot according to claim 4, it is characterized in that described more than one robot body joins end to end, in junction near two robot bodies, be provided with described roller and cam in the tail end both sides of previous robot body or the front end both sides of a back robot body, be provided with described reducing motor on the tail end of previous robot body or on the front end of a back robot body.
7, a kind of multi-limbs mobile robot according to claim 6, synchronous rolling or asynchronous rolling when it is characterized in that a plurality of cams on described a plurality of robot body roll.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2009201434587U CN201367055Y (en) | 2009-03-24 | 2009-03-24 | Multi-limb mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2009201434587U CN201367055Y (en) | 2009-03-24 | 2009-03-24 | Multi-limb mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201367055Y true CN201367055Y (en) | 2009-12-23 |
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ID=41485952
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2009201434587U Expired - Lifetime CN201367055Y (en) | 2009-03-24 | 2009-03-24 | Multi-limb mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201367055Y (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101508315B (en) * | 2009-03-24 | 2012-07-11 | 合肥翔瑞车库自动化设备有限公司 | Multi-limbs mobile robot |
| CN102805941A (en) * | 2012-08-22 | 2012-12-05 | 浙江大学 | Vibratory driving toy device |
| CN109367644A (en) * | 2018-11-06 | 2019-02-22 | 北京建筑大学 | A kind of multi-mode walking robot |
-
2009
- 2009-03-24 CN CNU2009201434587U patent/CN201367055Y/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101508315B (en) * | 2009-03-24 | 2012-07-11 | 合肥翔瑞车库自动化设备有限公司 | Multi-limbs mobile robot |
| CN102805941A (en) * | 2012-08-22 | 2012-12-05 | 浙江大学 | Vibratory driving toy device |
| CN109367644A (en) * | 2018-11-06 | 2019-02-22 | 北京建筑大学 | A kind of multi-mode walking robot |
| CN109367644B (en) * | 2018-11-06 | 2020-10-16 | 北京建筑大学 | Multi-mode walking robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: HEFEI XIANGRUI GARAGE AUTOMATIC EQUIPMENT CO., LTD Free format text: FORMER OWNER: HEFEI SHARY TECHNOLOGY CO., LTD. Effective date: 20111102 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20111102 Address after: Daoxiang road Hefei City, Anhui province 230088 Shushan New Industrial Park No. 9 Building 9 building 902 room Patentee after: Hefei Xiangrui Garage Automation Equipment Co., Ltd. Address before: 230088 No. 399 Haitang Road, Anhui, Hefei Patentee before: Hefei Shary Technology Co., Ltd. |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20091223 Effective date of abandoning: 20090324 |