CN204895643U - Can bore pedipulator and because robot of this leg of wall - Google Patents
Can bore pedipulator and because robot of this leg of wall Download PDFInfo
- Publication number
- CN204895643U CN204895643U CN201520695216.4U CN201520695216U CN204895643U CN 204895643 U CN204895643 U CN 204895643U CN 201520695216 U CN201520695216 U CN 201520695216U CN 204895643 U CN204895643 U CN 204895643U
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- China
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- attaching parts
- pedipulator
- steering wheel
- sole
- rectangle
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Abstract
The utility model discloses a can bore pedipulator and because robot of this leg of wall, including the body, be provided with a plurality of pedipulators on the body, a U type connecting piece and this body coupling of pedipulator, the steering wheel on the U type connecting piece rotates through the drive of first steering wheel, and the pedipulator includes the sole, is provided with the rectangle connecting piece on the sole, is provided with the lead screw drill bit that can stretch out the sole in the rectangle connecting piece, and the lead screw drill bit passes through lead screw motor drive and rotates, and rectangle connecting piece top is provided with a plurality of end to end's mechanical pendulous device, can universally removing in the walking process, need not to turn, nimbly and freely, when needs carried out the drilling to the barrier, servo motor can drive the lead screw drill bit and rotate, reached the working method of drilling, and clearance sacrifice device and the integration of leg structure do not need independent processing, and the integrated level is high, convenient to use.
Description
[technical field]
The utility model belongs to robot field, is specifically related to a kind ofly bore the pedipulator of wall and the robot based on this leg.
[background technology]
Along with the progress of science and technology, legged type robot is auxiliary search and rescue and exploring unknown environments etc. under being used to hazardous environment more and more widely, has very important realistic function and scientific research value.Such as cave in colliery, in seismic ruins and a series of hazardous environment, legged type robot just can replace the mankind to go work safely and efficiently.But because although some legged type robots are without removing obstacles function or have function of removing obstacles and be provided with extra barrier clearing device and cause its volume excessive, thus cannot work in narrow space, they just lose the meaning of rescue detection like this.
[utility model content]
The purpose of this utility model is to overcome above-mentioned deficiency, provides a kind of and bores the pedipulator of wall and the robot based on this leg, solves existing legged type robot and to remove obstacles function but Problems existing in the excessive technology of volume without the function or have of removing obstacles.
In order to achieve the above object, a kind of pedipulator boring wall, it is characterized in that, comprise sole, sole is provided with rectangle attaching parts, be provided with the leading screw drill bit that can stretch out sole in rectangle attaching parts, leading screw drill bit is driven by spindle motor and rotates, and rectangle attaching parts top is provided with some end to end mechanical pendulous devices;
Described mechanical pendulous device comprises U-shaped attaching parts, U-shaped attaching parts is provided with two steering wheels, and two steering wheels are rotated by servo driving, and steering wheel is connected with the U-shaped attaching parts of adjacent mechanical pendulous device by L-type framing member;
Described rectangle attaching parts top is connected with the steering wheel of the mechanical pendulous device of end, the U-shaped attaching parts of the mechanical pendulous device of head end is provided with can driving mechanical pendulous device rotate servomotor, servomotor is fixed on the first U-shaped attaching parts by U-shaped framing member, the first U-shaped attaching parts is provided with two steering wheels.
Described mechanical pendulous device has three.
The edge of described sole has serration land.
Based on the robot of pedipulator that can bore wall, comprise body, body is provided with some pedipulators, the first U-shaped attaching parts of pedipulator is connected with body, and the steering wheel on the first U-shaped attaching parts is rotated by the first servo driving.
Described body is rectangle, body is provided with four pedipulators, and four pedipulators are separately positioned on four angles of body.
Compared with prior art, the pedipulator that can bore wall in the utility model has and can have flexible leading screw drill bit, when needs carry out drilling to obstacle, servomotor can drive leading screw drill bit rotational, reach the mode of operation of drilling, barrier clearing device and leg structure-integrated, do not need independent processing, integrated level is high, easy to use.
Further, the edge of the utility model sole has serration land, and when needs cut obstacle, servomotor can drive sole to rotate, and realizes the mode of operation of cutting.
Based on the robot of pedipulator that can bore wall in the utility model, can by the some pedipulators arranged on body, in the process of walking can direction movement, without the need to turning, nimbly and freely, when running into obstacle, servomotor can drive leading screw drill bit rotational, reaches the mode of operation of drilling, and robot integral structure is little, small space environment can be adapted to, detection and rescue is had a very important role.
[accompanying drawing explanation]
Fig. 1 is the structural representation that the utility model can bore the pedipulator of wall;
Fig. 2 is the utility model based on the structural representation of robot of pedipulator that can bore wall;
Fig. 3 is the structural representation in the utility model silk rectangle attaching parts;
Fig. 4 is the working state schematic representation that the utility model can bore the pedipulator of wall.
[detailed description of the invention]
Below in conjunction with accompanying drawing, the utility model is described further.
See Fig. 1, Fig. 3 and Fig. 4, a kind of pedipulator boring wall, it is characterized in that, comprise sole 10, the edge of sole 10 has serration land, sole 10 is provided with rectangle attaching parts 7, is provided with the leading screw drill bit 9 that can stretch out sole 10 in rectangle attaching parts 7, leading screw drill bit 9 is driven by spindle motor 8 and rotates, and rectangle attaching parts 7 top is provided with some end to end mechanical pendulous devices;
Machinery pendulous device comprises U-shaped attaching parts 2, and U-shaped attaching parts is provided with two steering wheels, 1, two steering wheels 1 and drives rotation by steering wheel 5, steering wheel 5 is connected by the U-shaped attaching parts 2 of L-type framing member 6 with adjacent mechanical pendulous device;
Rectangle attaching parts 7 top is connected with the steering wheel 5 of the mechanical pendulous device of end, the U-shaped attaching parts 2 of the mechanical pendulous device of head end is provided with can driving mechanical pendulous device rotate servomotor 4, servomotor 4 is fixed on the first U-shaped attaching parts 2-1 by U-shaped framing member 3, and the first U-shaped attaching parts 2-1 is provided with two steering wheels 1.
See Fig. 2, based on the robot of pedipulator that can bore wall, comprise body 11, body 11 is provided with some pedipulators, first U-shaped attaching parts 2-1 of pedipulator is connected with body 11, and the steering wheel 1 on the first U-shaped attaching parts 2-1 is driven by the first steering wheel 5-1 and rotates.
A kind of method of work of robot of pedipulator based on wall can be bored, after running into obstacle during work, steering wheel 5 control pin base plate 10 lifts, and spindle motor 8 drives leading screw drill bit 9 to rotate, after leading screw drill bit 9 is stretched out from sole 10, servomotor 4 rotates, and drives rectangle attaching parts 7 to rotate, makes leading screw drill bit 9 drilling obstacle, servomotor 4 rotates, drive rectangle attaching parts 7 to rotate, thus the sole 10 with serration land is rotated, cutting obstacle.
Embodiment:
See Fig. 1, Fig. 2, Fig. 3 and Fig. 4, the body 11 of robot based on the pedipulator that can bore wall is rectangle, body 11 is provided with four pedipulators, four pedipulators are separately positioned on four angles of body 11, and the mechanical pendulous device on every bar pedipulator has three;
Every bar pedipulator includes the first U-shaped attaching parts be fixed on body 11, first U-shaped attaching parts fixes servomotor 4 by U-shaped framing member 3, servomotor 4 connects the second U-shaped attaching parts 2-2 that can rotate, steering wheel is provided with in second U-shaped attaching parts 2-2, second steering wheel 5-2 can control the second U-shaped attaching parts 2-2 by steering wheel and rotate, second steering wheel 5-2 is fixed on the 3rd U-shaped attaching parts 2-3 by the first L-type framing member 6-1, steering wheel is provided with in 3rd U-shaped attaching parts 2-3, second steering wheel 5-3 can control the 3rd U-shaped attaching parts 2-3 by steering wheel and rotate, 3rd U-shaped attaching parts 2-3 is fixed on the 4th U-shaped attaching parts 2-4 by the second L-type structure pieces 6-2, steering wheel is provided with in 4th U-shaped attaching parts 2-4, 3rd steering wheel 5-4 can control the 4th U-shaped attaching parts 2-4 by steering wheel and rotate, 3rd steering wheel 5-4 is fixed on rectangle attaching parts 7, the leading screw drill bit 9 that can stretch out sole 10 is provided with in rectangle attaching parts 7, leading screw drill bit 9 is driven by spindle motor 8 and rotates, rectangle attaching parts 7 is connected with sole 10, the edge of sole 10 has serration land.
Claims (5)
1. one kind can be bored the pedipulator of wall, it is characterized in that, comprise sole (10), sole (10) is provided with rectangle attaching parts (7), the leading screw drill bit (9) that can stretch out sole (10) is provided with in rectangle attaching parts (7), leading screw drill bit (9) is driven by spindle motor (8) and rotates, and rectangle attaching parts (7) top is provided with some end to end mechanical pendulous devices;
Described mechanical pendulous device comprises U-shaped attaching parts (2), U-shaped attaching parts is provided with two steering wheels (1), two steering wheels (1) are driven by steering wheel (5) to be rotated, and steering wheel (5) is connected with the U-shaped attaching parts (2) of adjacent mechanical pendulous device by L-type framing member (6);
Described rectangle attaching parts (7) top is connected with the steering wheel (5) of the mechanical pendulous device of end, the U-shaped attaching parts (2) of the mechanical pendulous device of head end is provided with can driving mechanical pendulous device rotate servomotor (4), servomotor (4) is fixed on the first U-shaped attaching parts (2-1) by U-shaped framing member (3), the first U-shaped attaching parts (2-1) is provided with two steering wheels (1).
2. a kind of pedipulator boring wall according to claim 1, is characterized in that, described mechanical pendulous device has three.
3. a kind of pedipulator boring wall according to claim 1, is characterized in that, the edge of described sole (10) has serration land.
4. based on a kind of robot boring the pedipulator of wall according to claim 1, it is characterized in that, comprise body (11), (11) are provided with some pedipulators to body, first U-shaped attaching parts (2-1) of pedipulator is connected with body (11), and the steering wheel (1) on the first U-shaped attaching parts (2-1) is driven by the first steering wheel (5-1) and rotates.
5. a kind of robot of pedipulator based on wall can be bored according to claim 4, it is characterized in that, described body (11) is rectangle, body (11) is provided with four pedipulators, and four pedipulators are separately positioned on four angles of body (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520695216.4U CN204895643U (en) | 2015-09-09 | 2015-09-09 | Can bore pedipulator and because robot of this leg of wall |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520695216.4U CN204895643U (en) | 2015-09-09 | 2015-09-09 | Can bore pedipulator and because robot of this leg of wall |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204895643U true CN204895643U (en) | 2015-12-23 |
Family
ID=54917843
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520695216.4U Expired - Fee Related CN204895643U (en) | 2015-09-09 | 2015-09-09 | Can bore pedipulator and because robot of this leg of wall |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204895643U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
-
2015
- 2015-09-09 CN CN201520695216.4U patent/CN204895643U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151223 Termination date: 20160909 |