CN205059785U - Polypody robot platform of imitative insect - Google Patents
Polypody robot platform of imitative insect Download PDFInfo
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- CN205059785U CN205059785U CN201520837351.8U CN201520837351U CN205059785U CN 205059785 U CN205059785 U CN 205059785U CN 201520837351 U CN201520837351 U CN 201520837351U CN 205059785 U CN205059785 U CN 205059785U
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Abstract
The utility model discloses a polypody robot platform of imitative insect, set up the mechanical legs around the organism including organism and symmetry, mechanical legs include sufficient end, supporting part and connecting portion, the supporting part adopt the articulated type structure two parts of movable connection, one of them part includes the connecting plate that is used for installing the steering wheel, another part includes the bumper shock absorber, connecting portion be connected with the supporting part is movable. The utility model discloses a peculair motions such as translation, rotation, translation and rotation can be realized to polypody robot platform, the organism adopts the hexagon design, has reduced the collision possibility of shank, has increased the stability of organism, motion stationary, the transmission space that has increased the robot shank, mechanical legs adopts imitative spider design, has shock attenuation anti -skid system, sensor group and adopt each joint of steering wheel direct drive, and control is simple, ground strong adaptability.
Description
Technical field
The utility model belongs to bio-robot technical field, is specifically related to the multi-foot robot platform of a kind of imitative insect.
Background technology
Along with the development of society and the raising of scientific and technological level, people constantly strengthen the particular kind of machine Man's Demands that can work under various particular surroundings.Current for the many employings of mobile robot wheeled or crawler-type mobile platform, cannot meet the walking requirement on complex-terrain road surface, therefore, designing a kind ofly the robot platform of steady movement on various complex road surface can become problem urgently to be resolved hurrily.
Current bio-robot Platform movement alerting ability is lower, and rotation is comparatively difficult; Body generally adopts oblong to design, and the transmission space of robot leg is less, and leg easily collides, and robust motion is lower, easily turns on one's side under complex-terrain; The design of pedipulator is comparatively complicated, bulky and wayward.
Summary of the invention
For above-mentioned problems of the prior art, the purpose of this utility model is, provides the multi-foot robot platform of a kind of imitative insect, can realize translation, rotation, translation the peculair motions such as rotation, controls simple and ground strong adaptability.
In order to realize above-mentioned task, the utility model by the following technical solutions:
The multi-foot robot platform of a kind of imitative insect, comprise body and be symmetricly set on the pedipulator around body, described pedipulator comprises sufficient end, support portion and connecting portion, described support portion adopts articulated structure, comprise two parts of movable connection, wherein a part comprises the connecting panel for installing steering wheel, and another part comprises bumper; Described connecting portion is connected with support portion is movable.
Further, described body comprises rectangular-shaped adapter plate, and the bottom of adapter plate is provided with the casing for static controller and battery, and described pedipulator arranges six, is symmetrically distributed in the both sides of adapter plate length direction.
Further, a steering wheel is installed at the two ends of described connecting panel separately, is respectively the first steering wheel and the second steering wheel, and the first steering wheel is connected with bumper by the first attaching parts, and the second steering wheel is connected with connecting portion by the second attaching parts.
Further, described bumper includes bottom surface, set casing without end face, is connected in a sensor group bottom set casing by the second pillar, and sensor group is connected with described foot end by the first pillar; Set casing inside is provided with spring, and set casing top, spring are all connected with the first attaching parts, is wherein connected for movable between set casing top with the first attaching parts.
Further, described foot end is semi-cylindrical, and the cambered surface of foot end is distributed with the groove that many are held radial direction along foot, circumference is interspersed, and the cambered surface of foot end is divided into multiple boxed area by these grooves.
Further, the 3rd steering wheel is provided with in described connecting portion.
Further, the first described attaching parts comprises the first support, and one end of the first support is connected with bumper, and the other end of the first support is fixed on and is installed on the first flange of the first steering wheel.
Further, the second described attaching parts comprises the second support, and the two ends of the second support are mounted on the three-flange dish on the 3rd steering wheel respectively and are arranged on the second flange on the second steering wheel.
The utility model has following technical characterstic:
Multi-foot robot platform of the present utility model can realize translation, rotation, translation the peculair motions such as rotation; Body adopts hexagonal design, decreases the collision possibility of leg, adds the stability of body, stable movement, increase the transmission space of robot leg; Pedipulator adopts the design of imitative spider, has damping and slide-prevention system, sensor group and adopt each joint of steering wheel Direct driver, controls simple, ground strong adaptability.
Accompanying drawing explanation
Fig. 1 is integral structure schematic diagram of the present utility model;
Fig. 2 is the structural representation of body;
Fig. 3 is the structural representation of pedipulator;
Number in the figure represents: 1-body, 2-pedipulator, 3-adapter plate, 4-controller, 5-battery, the 6-the three steering wheel, the 7-the three-flange dish, the 8-the second attaching parts, 9-the second flange, the 10-the second steering wheel, 11-connecting panel, 12-the first steering wheel, the 13-the first flange, the 14-the first attaching parts, 15-spring, 16-set casing, the 17-the second pillar, 18-sensor group, the 19-the first pillar, 20-foot end.
Detailed description of the invention
Defer to technique scheme, as shown in Figure 1 to Figure 3, the multi-foot robot platform of a kind of imitative insect, comprise body 1 and be symmetricly set on the pedipulator 2 around body 1, described pedipulator 2 comprises foot end 20, support portion and connecting portion, and described support portion adopts articulated structure, comprises two parts of movable connection, wherein a part comprises the connecting panel 11 for installing steering wheel, and another part comprises bumper; Described connecting portion is connected with support portion is movable.
This programme mainly comprises two parts, and a part is body 1, and body 1 has two effects, and one is that for installing, to connect pedipulator 2, two are miscellaneous parts for stationary machines people, as vision system.Part II is pedipulator 2.The pedipulator 2 designed in this programme adopts bionics structure design.Pedipulator 2 is articulated structure, namely can have multiple degree of freedom on pedipulator 2, makes pedipulator 2 can make various action.Bumper effectively can reduce vibrations and transmit to body 1 direction, ensures the steady of system works.
As shown in Figure 2, body 1 comprises rectangular-shaped adapter plate 3, and the bottom of adapter plate 3 is provided with for the casing of static controller 4 with battery 5, and described pedipulator 2 arranges six, is symmetrically distributed in the both sides of adapter plate 3 length direction.
By to the myriopod observation of realm of nature, many elder brother 3 worm legs are symmetrical, and foot drops in an oval scope mostly.Inspired thus, this multi-foot robot platform of this programme, imitate spider structure, have six pedipulators 2.Every bar leg has 3 degree of freedom, and the configuration of leg adopts forward symmetrical, and the geometrical configuration of leg in positive principal plane adopts insect shape.In order to cost-saving, improve interchangeability of parts, six legs adopt identical design.
In the casing of body 1 bottom, be provided with controller 4 and battery 5.Controller 4 is connected with the steering wheel of pedipulator 2, controls the walking of pedipulator 2, and can with other components of system as directed on robot, as vision system, feedback system connect.Battery 5 provides electric power supply for whole system.Casing of the present utility model is rigid structure.Be distributed in an oval scope by analyzing this six biped robots leg.Stable in order to walk, in the process of walking, the projection of body 1 center of gravity must drop in the delta-shaped region that three supporting foots form six biped robots.Hexagon body 1 robot leg distribution more meet elliptic systems, and six biped robots have the advantage of three aspects: the collision one, decreasing leg may; Two, the stability of body 1 is added, stable movement; Three, the transmission space of robot leg is increased.
Pedipulator 2 structure in this programme, as shown in Figure 3, pedipulator 2 comprises foot end 20, support portion and connecting portion, described support portion adopts articulated structure, comprise two parts of movable connection, wherein a part comprises the fixed mount for installing steering wheel, and another part comprises bumper; Between bumper and described foot end 20, be provided with sensor group 18, described connecting portion is connected with support portion is movable.A steering wheel is installed at the two ends of fixed mount separately, is respectively the first steering wheel 12 and the second steering wheel 10, first steering wheel 12 is connected with bumper by the first attaching parts 14, and the second steering wheel 10 passes through the second attaching parts 8 and is connected with connecting portion; The 3rd steering wheel 6 be connected with body 1 is provided with in connecting portion.
Pedipulator 2 has in three " joints ", and first is the 3rd steering wheel 6 place, and the 3rd steering wheel 6 is connected with body 1, and steering wheel can change direction, has one degree of freedom here; Second " joint " is the second steering wheel 10 place, and the second steering wheel 10 is connected with connecting portion, is second degree of freedom here; 3rd " joint " is that the first steering wheel 12, first steering wheel 12 is connected with between pillar, and can change direction and the position of pillar, be three degree of freedom here.Thus, this pedipulator 2 structure that this programme proposes, has multiple degree of freedom, makes it take action more nimble.Sensor group 18 comprises multiple sensor, as infrared pickoff, force snesor etc., by the feedback of sensor to controller 4, adjusts the Running strategy of robot, with avoiding barrier etc.
Attaching parts mainly plays connection function, and the first attaching parts 14 comprises the first support, and one end of the first support is connected with bumper, and the other end of the first support is fixed on and is installed on the first flange 13 of the first steering wheel 12.As shown in Figure 3, two risers that the first attaching parts 14 comprises a base plate and arranges perpendicular to base plate, two risers are connected with two flanges of the first steering wheel 12 both sides respectively.Such first steering wheel 12 just can change the form of being somebody's turn to do " joint " by flange.And the structure of the first attaching parts 14 also ensure that in articulation process, the first steering wheel 12 is not subject to the impact of bumper.
Second attaching parts 8 and the first attaching parts 14 structural similitude, difference is, the both sides of the base plate of the second attaching parts 8 respectively distribute a pair riser, the installation direction of two pairs of risers of base plate both sides is mutually vertical, and the line (shortest distance lines) namely between the riser of two, the same side is perpendicular to the line between opposite side two risers.The riser of base plate both sides is connected with the flange on the second steering wheel 10, the 3rd steering wheel 6 separately.Such 3rd steering wheel 6, second steering wheel 10 just can, based on the second attaching parts 8, drive the second attaching parts 8 to change the angle of different directions, to reach the object changing whole pedipulator 2 attitude.All the time leave certain interval between above-mentioned base plate and steering wheel, such steering wheel would not touch attaching parts in operational process.
In order to make pedipulator 2 in the process of start, better anti-seismic performance can be had, in support portion, be also provided with bumper.As shown in Figure 3, bumper includes bottom surface, set casing 16 without end face, be connected in described sensor group 18 by the second pillar 17 bottom set casing 16, set casing 16 inside is provided with spring 15, set casing 16 top, spring 15 are all connected with the first attaching parts 14, are wherein connected for movable between set casing 16 top with the first attaching parts 14.Operationally, by the power that transmit of foot end 20, absorbed counteracting through bumper part by spring 15, and between set casing 16 with the first attaching parts 14 movable connection be to ensure the stability connected.This structure design is easy, attractive in appearance and can expendable weight.
Foot end 20 is semi-cylindrical, the cambered surface of sufficient end 20 is distributed with many grooves be interspersed along foot end 20 radial direction, circumference, the cambered surface of foot end 20 is divided into multiple boxed area by these grooves, is divided into the skidring that transverse and longitudinal is staggered, can increases the friction with ground.These boxed area, can be regarded as protruding one by one, for the road conditions that ground is different, after being provided with this structure, can adapt to different road surface like this, whenever can ensure with ground it is linear contact lay.Utilize protruding and groove during walking, the close contact more such as projection, depression that can be trickle with ground, prevents from, in pedipulator 2 motion process, slippery conditions occurs.
Claims (8)
1. the multi-foot robot platform of an imitative insect, it is characterized in that, comprise body (1) and be symmetricly set on body (1) pedipulator (2) around, described pedipulator (2) comprises sufficient end (20), support portion and connecting portion, described support portion adopts articulated structure, comprise two parts of movable connection, wherein a part comprises the connecting panel (11) for installing steering wheel, and another part comprises bumper; Described connecting portion is connected with support portion is movable.
2. the multi-foot robot platform of imitative insect as claimed in claim 1, it is characterized in that, described body (1) comprises rectangular-shaped adapter plate (3), the bottom of adapter plate (3) is provided with for the casing of static controller (4) with battery (5), described pedipulator (2) arranges six, is symmetrically distributed in the both sides of adapter plate (3) length direction.
3. the multi-foot robot platform of imitative insect as claimed in claim 1, it is characterized in that, a steering wheel is installed at the two ends of described connecting panel (11) separately, be respectively the first steering wheel (12) and the second steering wheel (10), first steering wheel (12) is connected with bumper by the first attaching parts (14), and the second steering wheel (10) is connected with connecting portion by the second attaching parts (8).
4. the multi-foot robot platform of imitative insect as claimed in claim 3, it is characterized in that, described bumper includes bottom surface, set casing (16) without end face, set casing (16) bottom is connected on a sensor group (18) by the second pillar (17), and sensor group (18) is connected with described foot end (20) by the first pillar (19); Set casing (16) inside is provided with spring (15), set casing (16) top, spring (15) are all connected with the first attaching parts (14), are wherein connected for movable between set casing (16) top with the first attaching parts (14).
5. the multi-foot robot platform of imitative insect as claimed in claim 1, it is characterized in that, described foot end (20) is semi-cylindrical, the cambered surface of foot end (20) is distributed with many and holds along foot the groove that (20) are radial, circumference is interspersed, the cambered surface of sufficient end (20) is divided into multiple boxed area by these grooves.
6. the multi-foot robot platform of imitative insect as claimed in claim 1, is characterized in that, be provided with the 3rd steering wheel (6) in described connecting portion.
7. the multi-foot robot platform of imitative insect as claimed in claim 3, it is characterized in that, described the first attaching parts (14) comprises the first support, one end of first support is connected with bumper, and the other end of the first support is fixed on and is installed on first flange (13) of the first steering wheel (12).
8. the multi-foot robot platform of imitative insect as claimed in claim 3, it is characterized in that, described the second attaching parts (8) comprises the second support, and the two ends of the second support are mounted on the three-flange dish (7) on the 3rd steering wheel (6) respectively and are arranged on the second flange (9) on the second steering wheel (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520837351.8U CN205059785U (en) | 2015-08-18 | 2015-10-27 | Polypody robot platform of imitative insect |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520622295 | 2015-08-18 | ||
| CN2015206222956 | 2015-08-18 | ||
| CN201520837351.8U CN205059785U (en) | 2015-08-18 | 2015-10-27 | Polypody robot platform of imitative insect |
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| Publication Number | Publication Date |
|---|---|
| CN205059785U true CN205059785U (en) | 2016-03-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520837351.8U Expired - Fee Related CN205059785U (en) | 2015-08-18 | 2015-10-27 | Polypody robot platform of imitative insect |
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| CN (1) | CN205059785U (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105905189A (en) * | 2016-06-25 | 2016-08-31 | 李玉婷 | Six-legged robot |
| CN106043494A (en) * | 2016-06-25 | 2016-10-26 | 李玉婷 | Six-foot robot |
| CN106114673A (en) * | 2016-08-02 | 2016-11-16 | 安徽工程大学机电学院 | A kind of climbing robot |
| CN106114672A (en) * | 2016-06-25 | 2016-11-16 | 李玉婷 | A kind of Hexapod Robot |
| CN106976493A (en) * | 2017-04-05 | 2017-07-25 | 昆明理工大学 | A kind of sufficient tow-armed robot of multi-joint bionical six |
| CN107099795A (en) * | 2017-03-31 | 2017-08-29 | 山东立辉重工有限公司 | spider robot with cladding function |
| CN107140052A (en) * | 2017-04-24 | 2017-09-08 | 北京航空航天大学 | A kind of wheel leg type Hexapod Robot with suspension |
| CN107856756A (en) * | 2017-11-01 | 2018-03-30 | 北京航空航天大学 | A kind of bionical quadruped robot of allosteric type |
| CN109771228A (en) * | 2019-03-10 | 2019-05-21 | 浙江工业大学 | A kind of four-footed assisted walk healing robot with balancing device |
| CN109771227A (en) * | 2019-03-10 | 2019-05-21 | 浙江工业大学 | The sufficient power-assisted healing robot of one kind six |
| CN109895114A (en) * | 2019-03-12 | 2019-06-18 | 广东机电职业技术学院 | A kind of climbing robot of the polygonized structure of pneumatic muscles driving |
| CN110525533A (en) * | 2019-09-08 | 2019-12-03 | 太原科技大学 | A kind of anti-depression polar region scientific investigation vehicle of large span |
| CN111391936A (en) * | 2020-03-20 | 2020-07-10 | 安徽工程大学 | A spider type robot for snowfield walking |
| CN112067049A (en) * | 2020-09-02 | 2020-12-11 | 深圳市中科华宇科技有限公司 | A six-legged robot for electric power facility patrols and examines |
| CN113148076A (en) * | 2021-04-25 | 2021-07-23 | 哈尔滨工程大学 | Underwater bionic spherical/hemispherical robot and motion control method thereof |
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2015
- 2015-10-27 CN CN201520837351.8U patent/CN205059785U/en not_active Expired - Fee Related
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105905189A (en) * | 2016-06-25 | 2016-08-31 | 李玉婷 | Six-legged robot |
| CN106043494A (en) * | 2016-06-25 | 2016-10-26 | 李玉婷 | Six-foot robot |
| CN106114672A (en) * | 2016-06-25 | 2016-11-16 | 李玉婷 | A kind of Hexapod Robot |
| CN106114673A (en) * | 2016-08-02 | 2016-11-16 | 安徽工程大学机电学院 | A kind of climbing robot |
| CN107099795A (en) * | 2017-03-31 | 2017-08-29 | 山东立辉重工有限公司 | spider robot with cladding function |
| CN106976493A (en) * | 2017-04-05 | 2017-07-25 | 昆明理工大学 | A kind of sufficient tow-armed robot of multi-joint bionical six |
| CN107140052B (en) * | 2017-04-24 | 2019-04-26 | 北京航空航天大学 | A kind of wheel leg type hexapod robot with suspension |
| CN107140052A (en) * | 2017-04-24 | 2017-09-08 | 北京航空航天大学 | A kind of wheel leg type Hexapod Robot with suspension |
| CN107856756A (en) * | 2017-11-01 | 2018-03-30 | 北京航空航天大学 | A kind of bionical quadruped robot of allosteric type |
| CN107856756B (en) * | 2017-11-01 | 2020-08-18 | 北京航空航天大学 | Variable-configuration bionic quadruped robot |
| CN109771228A (en) * | 2019-03-10 | 2019-05-21 | 浙江工业大学 | A kind of four-footed assisted walk healing robot with balancing device |
| CN109771227A (en) * | 2019-03-10 | 2019-05-21 | 浙江工业大学 | The sufficient power-assisted healing robot of one kind six |
| CN109895114A (en) * | 2019-03-12 | 2019-06-18 | 广东机电职业技术学院 | A kind of climbing robot of the polygonized structure of pneumatic muscles driving |
| CN109895114B (en) * | 2019-03-12 | 2024-02-27 | 广东机电职业技术学院 | Pneumatic muscle driven climbing robot with polygonal structure |
| CN110525533A (en) * | 2019-09-08 | 2019-12-03 | 太原科技大学 | A kind of anti-depression polar region scientific investigation vehicle of large span |
| CN110525533B (en) * | 2019-09-08 | 2024-04-30 | 太原科技大学 | Large-span anti-subsidence polar region scientific investigation vehicle |
| CN111391936A (en) * | 2020-03-20 | 2020-07-10 | 安徽工程大学 | A spider type robot for snowfield walking |
| CN112067049A (en) * | 2020-09-02 | 2020-12-11 | 深圳市中科华宇科技有限公司 | A six-legged robot for electric power facility patrols and examines |
| CN113148076A (en) * | 2021-04-25 | 2021-07-23 | 哈尔滨工程大学 | Underwater bionic spherical/hemispherical robot and motion control method thereof |
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| 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 |
Granted publication date: 20160302 Termination date: 20161027 |
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| CF01 | Termination of patent right due to non-payment of annual fee |