CN202554779U - Bionic ant type robot - Google Patents
Bionic ant type robot Download PDFInfo
- Publication number
- CN202554779U CN202554779U CN2012201941969U CN201220194196U CN202554779U CN 202554779 U CN202554779 U CN 202554779U CN 2012201941969 U CN2012201941969 U CN 2012201941969U CN 201220194196 U CN201220194196 U CN 201220194196U CN 202554779 U CN202554779 U CN 202554779U
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- trunk
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- rotating machine
- electric rotating
- windsurfing
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Abstract
The utility model belongs to lifesaving robots and particularly relates to a bionic ant type robot. The bionic ant type robot consists of front and rear body frames (25), a body top (20) is arranged above each body frame (25), and each body top (20) is connected with the corresponding body frame (25) through body vertical columns (24). An ejector plate hydraulic cylinder (18) is mounted in the middle of each body frame (25) and connected with an ejector plate (19) and a lower ejector plate (7), and a main driving wheel (12) is mounted at the front end of the bottom of each body frame (25). A sailboard and body connection motor (8) is arranged between each body frame (25) and each of a first rotary sail (3) and a second rotary sail (6). A leg rotary motor (26) is mounted on each leg sleeve (27), each leg sleeve (27) is connected with four mechanical legs (29), a claw rotary motor (30) is connected to the lower end of each tail mechanical leg (29), and a piston rod (36) is mounted on each of left and right body steering hydraulic cylinders (35 and 21). The bionic ant type robot is simple in whole body structure, smooth in operation and convenient for lifesaving.
Description
Technical field
The utility model belongs to the lifesaving robot, particularly a kind of bionical ant formula robot.
Background technology
In recent years; The personnel that mine, tunnel cave in and various natural calamity causes and the loss of property are inestimable; Wherein because the circuit of requiring assistance caves in, obstruction has caused the rescue degree of difficulty big; Promptness to rescue has very big influence, and a lot of life are exactly because left us forever owing to lack that material is supplied with in unapproachable space.
Summary of the invention
The purpose of the utility model is to overcome above-mentioned technical deficiency, provides a kind of simple in structure, and operation is smooth, the bionical ant formula robot that rescue efficiency is high.
The technical scheme that the utility model technical solution problem adopts is: bionical ant formula robot comprises antenna type sensor, trunk frame, camera, trunk column, piston rod, trunk top, two connecting rods, main drive wheel, is characterized in that bionical ant formula robot is made up of former and later two trunk framves, is provided with the trunk top above each trunk frame; Connect with the trunk column between trunk top and the trunk frame, in the middle of each trunk frame the top board hydraulic cylinder is housed, the top board hydraulic cylinder connects top board and lower roof plate respectively; Each trunk frame bottom front is equipped with main drive wheel; Each trunk frame bottom and arranged on left and right sides is equipped with rotary type windsurfing one and rotary type windsurfing two respectively, is provided with windsurfing between rotary type sail one, two and the trunk frame and is connected motor with trunk, is equipped with windsurfing connection motor and Athey wheel drive motors on the rotary type windsurfing one, two; Athey wheel one is housed on the rotary type windsurfing one; Athey wheel two is housed on the rotary type windsurfing two, respectively is provided with a leg sleeve in the middle of each trunk frame both sides, the shank electric rotating machine is housed on the leg sleeve; The leg sleeve connects four joint pedipulators; Shank is housed between the pedipulator connects motor, the lower end of minor details pedipulator connects a claw electric rotating machine, and the claw electric rotating machine connects claw assembly two; Claw assembly two connects claw and connects motor; Claw connects motor and connects claw assembly one, and two connecting rods that body PF cylinder pressure is connected with two connecting rod rotary electric machines are equipped with on top between former and later two trunk framves, and and arranged on left and right sides is equipped with left body hydraulic steering cylinder and right body hydraulic steering cylinder respectively between former and later two trunk framves; On the left and right body hydraulic steering cylinder piston rod is housed all; In the middle of the front end of preceding trunk frame storeroom is housed, storeroom is equipped with the storeroom door, on the trunk frame of storeroom and arranged on left and right sides the manipulator electric rotating machine is housed respectively; The manipulator electric rotating machine outer end in left side connects the drill bit electric rotating machine; Drill bit electric rotating machine front end connects drill bit, and the manipulator electric rotating machine outer end on right side connects gripper, and the trunk top front end of preceding trunk frame top is respectively equipped with two cameras and two antenna type sensors.
The beneficial effect of the utility model is: the whole body of bionical ant formula robot is simple in structure, and operation is smooth, is convenient to rescue; Both can be at level walking; Also can carry out creeping motion type walking, can also utilize rotatable windsurfing tight-holding type to walk, can implement the rescue of the multiple environment occasion that existing equipment can't carry out along columnar object at pipe interior; Can use the shortest time to accomplish rescue task, effectively reduce the loss of lives and properties.
Description of drawings
Specify with embodiment below in conjunction with accompanying drawing.
Fig. 1 is bionical ant formula robot architecture figure.
Among the figure, 1-Athey wheel one; 2-Athey wheel drive motors; 3-rotary type windsurfing one; The 4-windsurfing connects motor; 5-Athey wheel two; 6-rotary type windsurfing two; The 7-lower roof plate; The 8-windsurfing is connected motor with trunk; 9-drill bit electric rotating machine; The 10-drill bit; 11-manipulator electric rotating machine; The 12-main drive wheel; The 13-gripper; 14-storeroom door; The 15-storeroom; The 16-camera; 17-antenna type sensor; 18-top board hydraulic cylinder; The 19-top board; 20-trunk top; The right body hydraulic steering cylinder of 21-; 22-two connecting rods; 23-two connecting rod rotary electric machines; 24-trunk column; 25-trunk frame; 26-shank electric rotating machine; 27-leg sleeve; The 28-shank connects motor; The 29-pedipulator; 30-claw electric rotating machine; 31-claw assembly one; The 32-claw connects motor; 33-claw assembly two; The 34-lower roof plate; 35-left side body hydraulic steering cylinder; The 36-piston rod; 37-body PF cylinder pressure.
The specific embodiment
Embodiment; With reference to accompanying drawing 1, bionical ant formula robot is made up of former and later two trunk framves 25, and each trunk frame 25 top is provided with trunk top 20; Connect with trunk column 24 between trunk top 20 and the trunk frame 25; In the middle of each trunk frame 25 top board hydraulic cylinder 18 is housed, top board hydraulic cylinder 18 connects top board 19 and lower roof plate 34 respectively, and each trunk frame 25 bottom front is equipped with main drive wheel 12.Each trunk frame 25 bottom and arranged on left and right sides is equipped with rotary type windsurfing 1 and rotary type windsurfing 26 respectively; Rotary type windsurfing one, 23,6 with trunk frame 25 between be provided with windsurfing and be connected motor 8 with trunk; Be equipped with windsurfing on the rotary type windsurfing one, 23,6 and connect motor 4 and Athey wheel drive motors 2; Athey wheel 1 is housed on the rotary type windsurfing 1, Athey wheel 25 is housed on the rotary type windsurfing two.Respectively be provided with a leg sleeve 27 in the middle of each trunk frame 25 both sides; Shank electric rotating machine 28 is housed on the leg sleeve 27, and leg sleeve 27 connects four joint pedipulators 29, shank is housed between the pedipulator 19 connects motor 28; The lower end of minor details pedipulator 19 connects a claw electric rotating machine 30; Claw electric rotating machine 30 connects claw assembly 2 33, and claw assembly 2 33 connects claw and connects motor 32, and claw connects motor 32 and connects claw assembly 1.A left side, both sides are equipped with left body hydraulic steering cylinder 35 and right body hydraulic steering cylinder 21 respectively between former and later two trunk framves 25, on the left and right body hydraulic steering cylinder 35,21 piston rod 36 are housed all.Storeroom 15 is housed in the middle of the front end of preceding trunk frame 25; Storeroom 15 is equipped with storeroom door 14; On the trunk frame 25 of storeroom 15 and arranged on left and right sides manipulator electric rotating machine 11 is housed respectively, manipulator electric rotating machine 11 outer ends in left side connect drill bit electric rotating machine 9, and drill bit electric rotating machine 9 connects drill bit 10; Manipulator electric rotating machine 11 outer ends on right side connect gripper 13, and the front end at the trunk top 20 of preceding trunk frame 25 tops is equipped with two cameras 16 and two antenna type sensors 17 respectively.
The course of work of bionical ant formula robot is: bionical ant formula robot mainly relies on shank electric rotating machine 26, leg sleeve 27, pedipulator 29, shank electric rotating machine 26, claw electric rotating machine 32, claw assembly 1, claw assembly 2 33, claw to connect motor 32 on the level land or during the convex-concave ground running and realizes; Mainly relying on top board hydraulic cylinder 18 to drive top boards 19 when in pipeline, walking realizes with lower roof plate 4; Mainly relying on Athey wheel 1, Athey wheel 25, Athey wheel drive motors 2 and windsurfing on rotary type windsurfing 1 and rotary type windsurfing 26 and the rotatable windsurfing one, 23,6 to be connected motor 8 with trunk when on columnar object, creeping is connected motor 4 and realizes with windsurfing; Above-mentioned three kinds of walking manners all will be aided with PF cylinder pressure 37, main drive wheel 12, two connecting rods 22, two connecting rod rotary electric machines 23, left and right body hydraulic steering cylinder 35,21; Turning to during piston rod 36 is realized advancing; Also need camera 16 and antenna type sensor 17 information of carrying out to collect when advancing; Make the anticipation of rescue and broken barrier; Carry out work by manipulator electric rotating machine 11, gripper 13, drill bit electric rotating machine 9, drill bit 10 during broken the barrier; And gripper 13 can grasping objects be put into storeroom 15, the effect that plays sampling and preserve.
Claims (1)
1. bionical ant formula robot; Comprise antenna type sensor (17), trunk frame (25), camera (16), trunk column (24), piston rod (36), trunk top (20), two connecting rods (22), main drive wheel (12); It is characterized in that bionical ant formula robot is made up of former and later two trunk framves (25); Each trunk frame (25) top is provided with trunk top (20); Connect (24) with the trunk column between trunk top (20) and the trunk frame (25); Top board hydraulic cylinder (18) is housed in the middle of each trunk frame (25); Top board hydraulic cylinder (18) connects top board (19) and lower roof plate (7) respectively, and each trunk frame (25) bottom front is equipped with main drive wheel (12), and each trunk frame (25) bottom and arranged on left and right sides is equipped with rotary type windsurfing one (3) and rotary type windsurfing two (6) respectively; Be provided with windsurfing between rotary type sail one, two (3,6) and the trunk frame (25) and be connected motor (8) with trunk; Be equipped with windsurfing on the rotary type windsurfing one, two (3,6) and connect motor (4) and Athey wheel drive motors (2), Athey wheel one (1) is housed on the rotary type windsurfing one (3), Athey wheel two (5) is housed on the rotary type windsurfing two (6); Respectively be provided with a leg sleeve (27) in the middle of each trunk frame (25) both sides; Shank electric rotating machine (26) is housed on the leg sleeve (27), and leg sleeve (27) connects four joint pedipulators (29), shank is housed between the pedipulator (29) connects motor (28); The lower end of minor details pedipulator (29) connects a claw electric rotating machine (30); Claw electric rotating machine (30) connects claw assembly two (33), and claw assembly two (33) connects claw and connects motor (32), and claw connects motor (32) and connects claw assembly one (31); Two connecting rods (22) that body PF cylinder pressure (37) is connected with two connecting rod rotary electric machines (23) are equipped with on top between former and later two trunk framves (25); And arranged on left and right sides is equipped with left body hydraulic steering cylinder (35) and right body hydraulic steering cylinder (21) respectively between former and later two trunk framves (25), and left and right body hydraulic steering cylinder all is equipped with piston rod (36) on (35,21), and storeroom (15) is housed in the middle of the front end of preceding trunk frame (25); Storeroom (15) is equipped with storeroom door (14); On the trunk frame (25) of storeroom (15) and arranged on left and right sides manipulator electric rotating machine (11) is housed respectively, manipulator electric rotating machine (11) outer end in left side connects drill bit electric rotating machine (9), and drill bit electric rotating machine (9) front end connects drill bit (10); Manipulator electric rotating machine (9) outer end on right side connects gripper (13), and trunk top (20) front end of preceding trunk frame (25) top is respectively equipped with two cameras (16) and two antenna type sensors (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012201941969U CN202554779U (en) | 2012-05-03 | 2012-05-03 | Bionic ant type robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012201941969U CN202554779U (en) | 2012-05-03 | 2012-05-03 | Bionic ant type robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202554779U true CN202554779U (en) | 2012-11-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012201941969U Expired - Fee Related CN202554779U (en) | 2012-05-03 | 2012-05-03 | Bionic ant type robot |
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| CN (1) | CN202554779U (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103148314A (en) * | 2013-03-06 | 2013-06-12 | 北京隆科兴非开挖工程有限公司 | Pipeline walking robot |
| CN104931013A (en) * | 2015-04-20 | 2015-09-23 | 东华大学 | Antennal type detecting device and method for detecting heights and depths of stairs |
| CN105109574A (en) * | 2015-09-09 | 2015-12-02 | 榆林学院 | Mechanical leg capable of achieving wall drilling, robot based on mechanical leg and work method of robot |
| CN105292298A (en) * | 2015-12-04 | 2016-02-03 | 哈尔滨工业大学 | Three-section machine body type hexapod robot with transportation function and operation function fused |
| CN105523095A (en) * | 2016-01-14 | 2016-04-27 | 燕山大学 | Bionic climbing robot based on catapult device |
| CN106020025A (en) * | 2016-05-25 | 2016-10-12 | 昆明理工大学 | Mine tunnel water gushing-out advance rescue real-time embedded control device |
| CN106628072A (en) * | 2016-09-30 | 2017-05-10 | 哈尔滨工程大学 | Bionic multi-navigation-state deep unmanned submersible |
| CN108784840A (en) * | 2018-03-27 | 2018-11-13 | 南方医科大学南方医院 | Based on the improved abdominal operation platform of Leonardo da Vinci's surgical system |
| CN109003499A (en) * | 2018-07-19 | 2018-12-14 | 佛山市三水区希望火炬教育科技有限公司 | A kind of dedicated extra large reef bunker submarine mine delivery system of teenager's defence education |
| CN109398513A (en) * | 2018-12-10 | 2019-03-01 | 嘉兴学院 | A kind of pneumatic robot system adapting to complicated landform |
| CN110539821A (en) * | 2019-09-06 | 2019-12-06 | 燕山大学 | small pneumatic quadruped robot with automatic tracking function |
| CN111251314A (en) * | 2020-02-19 | 2020-06-09 | 青岛新起点文化科技有限公司 | Bionic ant robot and information system based on same |
| CN112936311A (en) * | 2021-03-25 | 2021-06-11 | 双子星机甲动力(肇庆)科技有限公司 | Bionic ant robot |
-
2012
- 2012-05-03 CN CN2012201941969U patent/CN202554779U/en not_active Expired - Fee Related
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103148314B (en) * | 2013-03-06 | 2014-11-26 | 北京隆科兴非开挖工程有限公司 | Pipeline walking robot |
| CN103148314A (en) * | 2013-03-06 | 2013-06-12 | 北京隆科兴非开挖工程有限公司 | Pipeline walking robot |
| CN104931013A (en) * | 2015-04-20 | 2015-09-23 | 东华大学 | Antennal type detecting device and method for detecting heights and depths of stairs |
| CN105109574B (en) * | 2015-09-09 | 2017-07-25 | 榆林学院 | The pedipulator of wall and robot and its method of work based on the leg can be bored |
| CN105109574A (en) * | 2015-09-09 | 2015-12-02 | 榆林学院 | Mechanical leg capable of achieving wall drilling, robot based on mechanical leg and work method of robot |
| CN105292298A (en) * | 2015-12-04 | 2016-02-03 | 哈尔滨工业大学 | Three-section machine body type hexapod robot with transportation function and operation function fused |
| CN105292298B (en) * | 2015-12-04 | 2018-06-08 | 哈尔滨工业大学 | It is a kind of to merge transport and three sections of body formula Hexapod Robots of operation function |
| CN105523095A (en) * | 2016-01-14 | 2016-04-27 | 燕山大学 | Bionic climbing robot based on catapult device |
| CN106020025B (en) * | 2016-05-25 | 2018-08-10 | 昆明理工大学 | A kind of permeable advance real-time embedded control device of rescue of drive |
| CN106020025A (en) * | 2016-05-25 | 2016-10-12 | 昆明理工大学 | Mine tunnel water gushing-out advance rescue real-time embedded control device |
| CN106628072B (en) * | 2016-09-30 | 2019-06-11 | 哈尔滨工程大学 | A kind of bionical deep-sea unmanned submersibles of state that navigate more |
| CN106628072A (en) * | 2016-09-30 | 2017-05-10 | 哈尔滨工程大学 | Bionic multi-navigation-state deep unmanned submersible |
| CN108784840A (en) * | 2018-03-27 | 2018-11-13 | 南方医科大学南方医院 | Based on the improved abdominal operation platform of Leonardo da Vinci's surgical system |
| CN109003499A (en) * | 2018-07-19 | 2018-12-14 | 佛山市三水区希望火炬教育科技有限公司 | A kind of dedicated extra large reef bunker submarine mine delivery system of teenager's defence education |
| CN109398513A (en) * | 2018-12-10 | 2019-03-01 | 嘉兴学院 | A kind of pneumatic robot system adapting to complicated landform |
| CN109398513B (en) * | 2018-12-10 | 2020-10-13 | 嘉兴学院 | Pneumatic robot system suitable for complex terrain |
| CN110539821A (en) * | 2019-09-06 | 2019-12-06 | 燕山大学 | small pneumatic quadruped robot with automatic tracking function |
| CN111251314A (en) * | 2020-02-19 | 2020-06-09 | 青岛新起点文化科技有限公司 | Bionic ant robot and information system based on same |
| CN112936311A (en) * | 2021-03-25 | 2021-06-11 | 双子星机甲动力(肇庆)科技有限公司 | Bionic ant robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121128 Termination date: 20130503 |