CN202728394U - Spider robot - Google Patents

Spider robot Download PDF

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Publication number
CN202728394U
CN202728394U CN 201220169841 CN201220169841U CN202728394U CN 202728394 U CN202728394 U CN 202728394U CN 201220169841 CN201220169841 CN 201220169841 CN 201220169841 U CN201220169841 U CN 201220169841U CN 202728394 U CN202728394 U CN 202728394U
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CN
China
Prior art keywords
vertical
limb
toe
manomelia
adjusting assembly
Prior art date
Application number
CN 201220169841
Other languages
Chinese (zh)
Inventor
何毅斌
江晓通
李江全
张其
Original Assignee
武汉工程大学
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Application filed by 武汉工程大学 filed Critical 武汉工程大学
Priority to CN 201220169841 priority Critical patent/CN202728394U/en
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Publication of CN202728394U publication Critical patent/CN202728394U/en

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Abstract

An embodiment of the utility model discloses a spider robot, and belongs to the technical field of robots. The robot comprises a robot body, a walking mechanism and a control system. The walking mechanism comprises four pairs of mechanical feet, wherein each mechanical foot comprises a rotating limb, a short limb, a long limb, a toe and a horizontal adjustment piece. The rotating limbs are installed on the robot body through the horizontal adjustment pieces. One end of each short limb is movably connected with each rotating limb, the other end of each short limb is movably connected with one end of each long limb, the other end of each long limb is movably connected with each toe, a first vertical adjustment assembly used for driving each short limb to move in the vertical direction is arranged between each rotating limb and each short limb, a second vertical adjustment assembly used for driving each long limb to move in the vertical direction is arranged between each short limb and each long limb, and a third vertical adjustment assembly used for driving each toe to move in the vertical direction is arranged between each long limb and each toe. The spider robot can vividly imitate walking posture of a spider, flexibly completes walking, steering and other basic movement, and can work under various road environments.

Description

Spider robot
Technical field
The utility model relates to the Robotics field, particularly a kind of spider robot.
Background technology
The invention of robot provides huge facility for the mankind, and in some specific occasions, it has irreplaceable effect.Such as, in earthquake rescue, dangerous environment allows rescue be difficult to implement, and at this moment, robot just can use.Yet existing robot all is to adopt running on wheels usually, in the abominable situation of environment, and in earthquake relief, rubble etc. everywhere, robot is difficult to work, and its field of application is greatly limited.
The utility model content
In order to solve the limited problem of field of application of the robot that prior art exists, the utility model embodiment provides a kind of spider robot.Described technical scheme is as follows:
The utility model embodiment provides a kind of spider robot, this spider robot comprises fuselage, be installed in the traveling gear on the described fuselage and be located at being used on the described fuselage and control the control system of described traveling gear action, described traveling gear comprises four pairs of machinery foots, each described machinery foot comprises: the rotation limb, manomelia, long limb, toe and be used for order about described machinery foot in the horizontal direction in the Level tune assembly of rotation, described rotation limb is installed on the described fuselage by described Level tune assembly, one end of described manomelia and described rotation limb are flexibly connected, the other end of described manomelia is flexibly connected by the end with described long limb, the other end of described long limb and described toe are flexibly connected, be provided with between described rotation limb and the described manomelia be used to ordering about the first vertical adjusting assembly of described manomelia in the vertical direction action, be provided with between described manomelia and the described long limb be used to ordering about the second vertical adjusting assembly of described long limb in the vertical direction action, be provided with between described long limb and the described toe be used to ordering about the three vertical adjusting assembly of described toe in the vertical direction action.
Particularly, described Level tune assembly comprises: horizontal servo motor, horizontal retarder, coupler and described horizontal servo motor is fixed on fixed mount on the described fuselage, the mouth of described horizontal servo motor is connected with described rotation limb with coupler by described horizontal retarder successively, and the axis direction of the output shaft of described horizontal servo motor is vertical direction.
Particularly, described the first vertical adjusting assembly comprises the first hydraulically extensible bar and is used for controlling the first control motor of described the first hydraulically extensible bar action, described the first control motor is located on the described fuselage, one end of described the first hydraulically extensible bar is fixed on the described rotation limb, and the other end of described the first hydraulically extensible bar is fixed on the described manomelia.
Preferably, described retarder is harmonic speed reducer.
Particularly, described the second vertical adjusting assembly comprises the second hydraulically extensible bar and is used for controlling the second control motor of described the second hydraulically extensible bar action, described the second control motor is located on the described fuselage, one end of described the second hydraulically extensible bar is fixed on described manomelia middle part, and the other end of described the second hydraulically extensible bar is fixed on the described long limb.
Alternatively, described the first vertical adjusting assembly and/or the second vertical adjusting assembly comprise the first vertical servomotor and the first vertical decelerator, described the first vertical decelerator is installed on the output shaft of described the first motor vertical, described manomelia is hinged on the described rotation limb by the output shaft of described the first vertical adjusting assembly, and described long limb is hinged on the described manomelia by the output shaft of described the second vertical adjusting assembly.
Particularly, described the 3rd vertical adjusting assembly comprises the second vertical servomotor, the second vertical decelerator and fixed frame, the described second vertical servomotor, described the second vertical decelerator are located in the described fixed frame, and described fixed frame is hinged on an end of described long limb by the output shaft of described the 3rd vertical adjusting assembly, and described toe is fixed on described fixed frame one side.
Preferably, at least one the machinery foot in described four pairs of machinery foots also comprises hydraulic tongs, and described hydraulic tongs is installed on the described fixed frame by the 3rd hydraulically extensible bar, and described hydraulic tongs is installed in respectively the relative side of described fixed frame with described toe.
Preferably, at least one the machinery foot in described four pairs of machinery foots also comprises hydraulic drill, and described hydraulic drill is installed in respectively the relative side of described fixed frame with described toe.
Preferably, be installed on the described fixed frame by liquid damper on the described toe.
The beneficial effect that the technical scheme that the utility model embodiment provides is brought is: the utility model embodiment horizontally rotates the machinery foot by the Level tune assembly, by first, the second and the 3rd vertical adjusting assembly makes respectively manomelia, long limb and toe vertically rotate, that is to say, machinery among the utility model embodiment can be to move in the horizontal direction with in the vertical direction, thereby can vivo imitate the walking posture of spider, finish neatly walking, the fundamental operation such as turn to, can under various road environments, work, be particularly useful for the environment of the Uneven roads such as earthquake relief.
Description of drawings
In order to be illustrated more clearly in the technical scheme among the utility model embodiment, the accompanying drawing of required use was done to introduce simply during the below will describe embodiment, apparently, accompanying drawing in the following describes only is embodiment more of the present utility model, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the structural representation of the spider robot that provides among the utility model embodiment;
Fig. 2 is the structural representation of the Level tune assembly of the spider robot that provides among the utility model embodiment;
Fig. 3 is the structural representation of the metapedes of the spider robot that provides among the utility model embodiment;
Fig. 4 is the structural representation of a front foot of the spider robot that provides among the utility model embodiment;
Fig. 5 is the structural representation of another front foot of the spider robot that provides among the utility model embodiment.
The specific embodiment
For making the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with accompanying drawing the utility model embodiment is described in further detail.
Embodiment
As shown in Figure 1, the utility model embodiment provides a kind of spider robot, and this spider robot comprises fuselage 1, be installed in the traveling gear on the fuselage 1 and be located at the control system 2 that is used for the action of control traveling gear on the fuselage 1.This traveling gear comprises four pairs of machinery foots 3, each machinery foot 3 comprises: rotation limb 31, manomelia 32, long limb 33, toe 34 and be used for order about machinery foot 3 in the horizontal direction in the Level tune assembly 35 of rotation, rotation limb 34 is installed on the fuselage 1 by Level tune assembly 35, one end of manomelia 32 is flexibly connected with rotation limb 31, the other end of manomelia 32 is flexibly connected by the end with long limb 33, the other end of long limb 33 and toe 34 are flexibly connected, be provided with between rotation limb 31 and the manomelia 32 be used to ordering about the first vertical adjusting assembly 36 of manomelia 32 in the vertical direction action, be provided with between manomelia 32 and the long limb 33 be used to ordering about the second vertical adjusting assembly 37 of long limb 33 in the vertical direction action, be provided with between long limb 33 and the toe 34 be used to ordering about the three vertical adjusting assembly 38 of toe 34 in the vertical direction action.
Wherein, control system 2 can comprise micro controller system and multiple sensors, such as angular transducer, displacement pickup, power sensor, can walk by the control full automaticity by this control system, oneself is judged has clear to determine whether turning to, and can carry the emergency aid articles such as the equipment such as life-detection instrument, camera, illumination, even food medicine thereon, improve rescue efficiency.
Particularly, as shown in Figure 2, Level tune assembly 35 comprises horizontal servo motor 351, horizontal retarder 352, coupler 353 and horizontal servo motor 351 is fixed on fixed mount 354 on the fuselage 1, the mouth of horizontal servo motor 351 is connected with coupler by horizontal retarder 352 successively and is rotated limb 31 and be connected, and the axis direction of the output shaft of horizontal servo motor 351 is for being essentially vertical direction.Under the control of control system 2, Level tune assembly 35 is controlled horizontally rotating of machinery foot 3.
Preferably, this retarder 352 can adopt harmonic speed reducer.Because harmonic speed reducer has that transmitting ratio is large, volume is little, lightweight, advantage that kinematic accuracy is high, so adopt harmonic speed reducer can control quickly the action of machinery foot.
Refer again to Fig. 1, in the present embodiment, four pairs of machinery foots comprise a pair of front foot 3a and three couples of metapedes 3b.
Concrete structure and the principle of work thereof of metapedes 3b introduced by following elder generation in conjunction with Fig. 3.
On metapedes 3b, the first vertical adjusting assembly 36 comprises the first hydraulically extensible bar 361 and is used for the first control motor (not shown) of control the first hydraulically extensible bar 361 actions, the first control motor is located on the fuselage 1, one end of the first hydraulically extensible bar 361 is fixed on the rotation limb 31, and the other end of the first hydraulically extensible bar 361 is fixed on the manomelia 32.The second vertical adjusting assembly 37 comprises the second hydraulically extensible bar 371 and is used for the second control motor (not shown) of control the second hydraulically extensible bar 371 actions, the second control motor is located on the fuselage 1, one end of the second hydraulically extensible bar 371 is fixed on manomelia 32 middle parts, and the other end of the second hydraulically extensible bar 371 is fixed on the long limb 33.The 3rd vertical adjusting assembly 38 comprises the second vertical servomotor 381, the second vertical decelerator 382 and is used for the second vertical servomotor 381 and the second vertical decelerator 382 are fixed on the fixed frame 383 of an end of long limb 33 that toe 34 is fixed on fixed frame 383 1 sides.
Under the control of control system 2, the first control electric machine rotation, it is flexible to drive hydraulically extensible bar 361, thus control manomelia 32 vertically rotates; The second control electric machine rotation, it is flexible to drive hydraulically extensible bar 371, thus the long limb 33 of control vertically rotates; And the second vertical servomotor 381 drives fixed frame 383 rotations, vertically rotates thereby drive toe 34.
Introduce concrete structure and the principle of work thereof of front foot 3a referring to Fig. 4 and Fig. 5.
As shown in Figure 4, on front foot 3a, the first vertical adjusting assembly 36 comprises the first vertical servomotor and the first vertical decelerator, and the first vertical decelerator is installed on the output shaft of the first motor vertical, and manomelia 32 is hinged on the rotation limb 31 by the output shaft of the first vertical adjusting assembly.The structure of the second vertical adjusting assembly is identical with the structure of the first vertical adjusting assembly, comprises the first vertical servomotor and the first vertical decelerator, and long limb 33 is hinged on the manomelia 32 by the output shaft of the second vertical adjusting assembly.The 3rd vertical adjusting assembly 38 comprises the second vertical servomotor 381, the second vertical decelerator 382 and fixed frame 383, the second vertical servomotor 381, the second vertical decelerator 382 are located in the fixed frame 383, and fixed frame 383 is hinged on an end of long limb 33 by the output shaft of the 3rd vertical adjusting assembly 38, and toe 34 is fixed on fixed frame 383 1 sides.
Preferably, one among two front foot 3a comprises that also hydraulic tongs 391(sees Fig. 4), hydraulic tongs 391 and toe 34 are installed in respectively the relative side of fixed frame 383.Among two front foot 3a another comprises that also hydraulic drill 392(sees Fig. 5), hydraulic drill 392 and toe 34 are installed in respectively the relative side of fixed frame 383.Hydraulic tongs 391 is installed on the fixed frame 383 by the 3rd hydraulically extensible bar 395, also is provided with liquid damper 394 and damping spring 393 on the hydraulic drill 392.
Under the control of control system 2, the first vertical servomotor output torque in the first vertical adjusting assembly 36 is ordered about manomelia 32 and is vertically rotated; The first vertical servomotor output torque in the second vertical adjusting assembly 37 is ordered about long limb 33 and is vertically rotated; And the second vertical servomotor 381 in the 3rd vertical adjusting assembly 38 drives fixed frame 383 rotations, vertically rotates thereby drive toe 34.When needs were used hydraulic tongs 35 or hydraulic drill 36, control system 2 control the corresponding second vertical servomotor 381 was with hydraulic tongs 35 or the hydraulic drill 36 rotations position towards ground.
Preferably, toe 34 is installed on the fixed frame 383 by liquid damper 341.
In the present embodiment, the first vertical adjusting assembly of front foot and metapedes is different with the structure of the second vertical adjusting assembly, but not as limit, in other embodiments, the first vertical adjusting assembly of front foot and metapedes also can adopt identical structure with the second vertical adjusting assembly.In addition, hydraulic tongs and hydraulic drill can not be arranged on the front foot yet, but are arranged on as required on other foot.
The utility model embodiment horizontally rotates the machinery foot by the Level tune assembly, by first, second, and third vertical adjusting assembly manomelia, long limb and toe are vertically rotated, that is to say, machinery among the utility model embodiment can be to move in the horizontal direction with in the vertical direction, thereby can vivo imitate the walking posture of spider, the fundamental operation such as finish neatly walking, turn to, can under various road environments, work, be particularly useful for the environment of the Uneven roads such as earthquake relief.In addition, owing to be provided with hydraulic tongs and hydraulic drill at front foot, can in the rescue process, clear up some obstacles, improve rescue efficiency.
The above only is preferred embodiment of the present utility model, and is in order to limit the utility model, not all within spirit of the present utility model and principle, any modification of doing, is equal to replacement, improvement etc., all should be included within the protection domain of the present utility model.

Claims (10)

1. spider robot, described spider robot comprises: fuselage, be installed in the traveling gear on the described fuselage and be located at being used on the described fuselage and control the control system of described traveling gear action, it is characterized in that, described traveling gear comprises four pairs of machinery foots, each described machinery foot comprises: the rotation limb, manomelia, long limb, toe and be used for order about described machinery foot in the horizontal direction in the Level tune assembly of rotation, described rotation limb is installed on the described fuselage by described Level tune assembly, one end of described manomelia and described rotation limb are flexibly connected, the other end of described manomelia is flexibly connected by the end with described long limb, the other end of described long limb and described toe are flexibly connected, be provided with between described rotation limb and the described manomelia be used to ordering about the first vertical adjusting assembly of described manomelia in the vertical direction action, be provided with between described manomelia and the described long limb be used to ordering about the second vertical adjusting assembly of described long limb in the vertical direction action, be provided with between described long limb and the described toe be used to ordering about the three vertical adjusting assembly of described toe in the vertical direction action.
2. spider robot according to claim 1, it is characterized in that, described Level tune assembly comprises: horizontal servo motor, horizontal retarder, coupler and described horizontal servo motor is fixed on fixed mount on the described fuselage, the mouth of described horizontal servo motor is connected with described rotation limb with coupler by described horizontal retarder successively, and the axis direction of the output shaft of described horizontal servo motor is vertical direction.
3. spider robot according to claim 2, it is characterized in that, described the first vertical adjusting assembly comprises the first hydraulically extensible bar and is used for controlling the first control motor of described the first hydraulically extensible bar action, described the first control motor is located on the described fuselage, one end of described the first hydraulically extensible bar is fixed on the described rotation limb, and the other end of described the first hydraulically extensible bar is fixed on the described manomelia.
4. spider robot according to claim 2 is characterized in that, described retarder is harmonic speed reducer.
5. spider robot according to claim 1, it is characterized in that, described the second vertical adjusting assembly comprises the second hydraulically extensible bar and is used for controlling the second control motor of described the second hydraulically extensible bar action, described the second control motor is located on the described fuselage, one end of described the second hydraulically extensible bar is fixed on described manomelia middle part, and the other end of described the second hydraulically extensible bar is fixed on the described long limb.
6. spider robot according to claim 1, it is characterized in that, described the first vertical adjusting assembly and/or the second vertical adjusting assembly comprise the first vertical servomotor and the first vertical decelerator, described the first vertical decelerator is installed on the output shaft of described the first motor vertical, described manomelia is hinged on the described rotation limb by the output shaft of described the first vertical adjusting assembly, and described long limb is hinged on the described manomelia by the output shaft of described the second vertical adjusting assembly.
7. each described spider robot according to claim 1-6, it is characterized in that, described the 3rd vertical adjusting assembly comprises the second vertical servomotor, the second vertical decelerator and fixed frame, the described second vertical servomotor, described the second vertical decelerator are located in the described fixed frame, and described fixed frame is hinged on an end of described long limb by the output shaft of described the 3rd vertical adjusting assembly, and described toe is installed in described fixed frame one side.
8. spider robot according to claim 7, it is characterized in that, at least one machinery foot in described four pairs of machinery foots also comprises hydraulic tongs, described hydraulic tongs is installed on the described fixed frame by the 3rd hydraulically extensible bar, and described hydraulic tongs is installed in respectively the relative side of described fixed frame with described toe.
9. spider robot according to claim 7 is characterized in that, at least one the machinery foot in described four pairs of machinery foots also comprises hydraulic drill, and described hydraulic drill is installed in respectively the relative side of described fixed frame with described toe.
10. spider robot according to claim 7 is characterized in that, described toe is installed on the described fixed frame by liquid damper.
CN 201220169841 2012-04-19 2012-04-19 Spider robot CN202728394U (en)

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Application Number Priority Date Filing Date Title
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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103171696A (en) * 2013-04-12 2013-06-26 何志波 Electronic spider buggy and infant vehicle
CN103231751A (en) * 2013-04-07 2013-08-07 哈尔滨工程大学 Single-joint-sealed amphibious multi-legged robot
CN104386159A (en) * 2014-11-14 2015-03-04 福建省泉州市第七中学 Path planning-based bionic spider
CN104527831B (en) * 2014-12-25 2016-08-17 华北科技学院 A kind of underground coal mine six foot Aranea search and rescue robot
CN106364584A (en) * 2016-09-22 2017-02-01 上海理工大学 Spider detection bionic robot
CN107010136A (en) * 2016-12-02 2017-08-04 北京航空航天大学 A kind of six degree of freedom can carry out the walking robot list leg structure of leg arm mixing operation
CN107128393A (en) * 2017-05-04 2017-09-05 河海大学常州校区 A kind of telescopic Foot sole structure of robot of flippers
CN109876340A (en) * 2019-03-18 2019-06-14 南京涵铭置智能科技有限公司 A kind of bionical fire-fighting robot and its fire-fighting method
CN110077487A (en) * 2019-05-15 2019-08-02 河海大学常州校区 A kind of eight biped robot of imitative spider

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103231751A (en) * 2013-04-07 2013-08-07 哈尔滨工程大学 Single-joint-sealed amphibious multi-legged robot
CN103231751B (en) * 2013-04-07 2015-05-27 哈尔滨工程大学 Single-joint-sealed amphibious multi-legged robot
CN103171696A (en) * 2013-04-12 2013-06-26 何志波 Electronic spider buggy and infant vehicle
CN103171696B (en) * 2013-04-12 2016-03-02 何志波 A kind of electric spider car and carriage for children
CN104386159A (en) * 2014-11-14 2015-03-04 福建省泉州市第七中学 Path planning-based bionic spider
CN104527831B (en) * 2014-12-25 2016-08-17 华北科技学院 A kind of underground coal mine six foot Aranea search and rescue robot
CN106364584A (en) * 2016-09-22 2017-02-01 上海理工大学 Spider detection bionic robot
CN107010136A (en) * 2016-12-02 2017-08-04 北京航空航天大学 A kind of six degree of freedom can carry out the walking robot list leg structure of leg arm mixing operation
CN107128393A (en) * 2017-05-04 2017-09-05 河海大学常州校区 A kind of telescopic Foot sole structure of robot of flippers
CN109876340A (en) * 2019-03-18 2019-06-14 南京涵铭置智能科技有限公司 A kind of bionical fire-fighting robot and its fire-fighting method
CN110077487A (en) * 2019-05-15 2019-08-02 河海大学常州校区 A kind of eight biped robot of imitative spider

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Granted publication date: 20130213

Termination date: 20150419