CN205396270U - A tripodia robot for danger area soil sampling - Google Patents

Abstract

The utility model relates to a tripodia robot for danger area soil sampling enters this type of region as the people and carries out the soil sampling during operation, and the environment causes very big harm to the human body easily, and current tripodia robot does not have the function that enters this type of region and carry out soil sampling work, and four -footed and hexapod robot manufacturing cost are too high among the while prior art, the utility model discloses the robot includes left leg, right leg, back leg and truck body and controller, and three leg structure is the same, and the truck body is regular triangle, and three support is sufficient each other to become 120 contained angles. Every leg has hip joint, thigh joint, knee joint, shank joint and claw joint (terminal joint) five joints. Nimble and the quick travel of tripodia robot is ensured in five joint coordinated movements of various economic factors, accomplishes soil sampling work. Article three, the terminal claw formula structure that adopts of leg can realize that the tripodia robot gets into the region that receives radiation or explosion influence, carries out soil sampling for follow -up analysis pollution degree etc.

Description

Tripod robot for deathtrap soil collecting

Technical field

This utility model relates to a kind of tripod robot, particularly relates to a kind of tripod robot for deathtrap soil collecting, and robot foot end adopts chela formula structure, it is possible to excavate and gripping soil.

Background technology

Along with the human society constantly progressive accelerated development with science and technology, the natural ability of human use is powerful all the more.But the safety problem in long-standing neglect productive life, such as the generation of Fukushima, Japan nuclear leakage and PORT OF TIANJIN explosive incident.The environment that people are lived by this type of event can produce subversive destruction, especially can bring fatal danger to the closely-related soil issues of the people's livelihood.These regions are not appropriate for the mankind and are directly entered and carry out soil sampling, also affect rescue personnel and organize work the very first time.

The present invention combines closely with Chinese economic construction and specific national conditions, and China especially two or three line cities are thick with the industries such as the chemical industry of substantial amounts of potentially dangerous property, weaving, coal mining.But working specification, production environment and security maintenance are still out in the cold for a long time, very easily cause the harm such as leakage and blast.And in prior art, the way of soil collecting in this type of situation is few, mainly still rely on artificial unshielded operation, and the continuous-stable of collecting work cannot be ensured.Tripod robot for soil collecting not only can carry out the soil collecting under hazardous environment these regions replacement mankind, and can improve the work efficiency of operation and reduce the problem that human society cost is high.

Utility model content

This utility model is in order to solve in prior art in exposed to radiation or blast impact region, it is impossible to directly send someone to enter the problem that these deathtraps carry out soil sampling.Meanwhile, tripod robot of the prior art does not have the function of soil collecting, can not complete set operation in these deathtraps.And four-footed in prior art, Hexapod Robot manufacturing cost are too high, energy consumption is very big, it is impossible to carry out soil collecting work for a long time.Thus providing a kind of tripod robot for deathtrap soil collecting.

This utility model adopts the technical scheme that for solving above-mentioned technical problem: the described tripod robot for deathtrap soil collecting includes left lower limb, right lower limb, back leg, trunk body and controller, trunk body is equilateral triangle framework, left lower limb, right lower limb is identical with the structure of back leg, trunk body is horizontally disposed with, left lower limb, right lower limb and back leg are mutually on 120 ° of three angles being arranged on trunk body, controller is fixedly mounted on trunk body, and controller respectively with left lower limb, right lower limb, back leg controls to connect, it is Y-axis that trunk body place plane is perpendicular to the direction of X-axis, the direction being perpendicular to X-axis and the formed plane of Y-axis is Z axis.

This utility model has the advantages that this utility model has left lower limb, right lower limb, back leg, trunk body and controller.Article three, lower limb is mutually 120 ° of angles, and three lower limb ends adopt chela formula structure, it is possible to carry out soil collecting work.Article three, lower limb has quickly mobile and crawl feature.Obvious advantage is possessed compared with other tripod robot, not only can be stable mobile flexibly but also there is soil collecting function, its centre of body weight can change with the change of leg joint position.The cooperation of five joints and trunk body ensure that tripod robot can be stablized and moves flexibly.This utility model is conducive to utilizing the tripod robot flexible and rapid feature of motion, it is possible to replaces people to carry out soil collecting under deathtrap, reduces the danger of work, reduces again manufacturing cost simultaneously.This utility model has simple in construction, advantage reasonable in design.

Accompanying drawing explanation

nullFig. 1 is the overall structure front view of utility model，Fig. 2 is the top view of Fig. 1，Fig. 3 is the front view of the left lower limb 1 of this utility model，Fig. 4 is the top view of Fig. 3，Fig. 5 is left lower limb coxa joint 11 structural representation，Fig. 6 is the structural representation of the big leg joint 12 of left lower limb，Fig. 7 is the structural representation of left lower limb knee joint 13，Fig. 8 is the structural representation of left lower limb calf joint 14，Fig. 9 is the front view in left lower limb chela joint 15，Figure 10 is the rearview of Fig. 9，Figure 11 is the structural representation that the little hands of left lower limb grabs 15A，Figure 12 is the structural representation that the big hands of left lower limb grabs 15F，Figure 13 is the structural representation of right lower limb coxa joint 21，Figure 14 is the structural representation of the big leg joint 22 of right lower limb，The structural representation of the right lower limb knee joint 23 of Figure 15，Figure 16 is the structural representation of right lower limb calf joint 24，Figure 17 is the front view in right lower limb chela joint 25，Figure 18 is the rearview of 17，Figure 19 is the structural representation that the little hands of right lower limb grabs 25A，Figure 20 is the structural representation that the big hands of right lower limb grabs 25F，Figure 21 is the structural representation of back leg coxa joint 31，Figure 22 is the structural representation of the big leg joint 32 of back leg，Figure 23 is the structural representation of back leg knee joint 33，Figure 24 is the structural scheme of mechanism of back leg calf joint 34，Figure 25 is the front view in back leg chela joint 35，Figure 26 is the rearview of Figure 25，Figure 27 is the structural representation that the little hands of back leg grabs 35A，Figure 28 is the structural representation that the big hands of back leg grabs 35F.

Detailed description of the invention

Detailed description of the invention one: present embodiment is described in conjunction with Fig. 1 and Fig. 2, a kind of tripod robot for deathtrap soil collecting described in present embodiment, described robot includes left lower limb 1, right lower limb 2, back leg 3, trunk body 4 and controller 5, trunk body 4 is equilateral triangle framework, left lower limb 1, right lower limb 2, identical with the structure of back leg 3, trunk body 4 is horizontally disposed with, left lower limb 1, right lower limb 2, it is symmetrically arranged on three summits of trunk body 4 with back leg 3, controller 5 is fixedly mounted on trunk body 4, and controller 5 respectively with left lower limb 1, right lower limb 2 and back leg 4 control to connect, it is Y-axis that trunk body 4 place plane is perpendicular to the direction of X-axis, the direction being perpendicular to X-axis and the formed plane of Y-axis is Z axis.

In present embodiment, the geometric center of the upper surface of trunk body 4 is zero point, and the upper surface of trunk body 4 is the XYZ 3 D stereo coordinate system that level reference is set up.

Present embodiment middle controller 6 is prior art, and manufacturer is Zhong Keou roc company, and model is Openduino.

Detailed description of the invention two: present embodiment is described in conjunction with Fig. 1 and 2, a kind of tripod robot for deathtrap soil collecting described in present embodiment, described trunk body 4 includes two equilateral triangle framework (4-1) consistencies from top to bottom and arranges, controller 5 is arranged on triangular framing, and other is identical with detailed description of the invention one.

nullDetailed description of the invention three: in conjunction with Fig. 1、Fig. 2-Figure 12 illustrates present embodiment，A kind of tripod robot for deathtrap soil collecting described in present embodiment，Described left lower limb 1 includes left lower limb coxa joint 11、The big leg joint 12 of left lower limb、Left lower limb knee joint 13、Left lower limb calf joint 14 and left lower limb chela joint 15，Left lower limb coxa joint 11 includes left lower limb the first steering wheel and supports support 11A、Left lower limb the first steering wheel 11B and left lower limb the first metal steering wheel 11C，The big leg joint of left lower limb 12 includes left lower limb the second steering wheel and supports support 12A、The U-shaped support 12B of left lower limb the first steering wheel length、Left lower limb the second steering wheel 12C and left lower limb the second metal steering wheel 12D，Left lower limb knee joint 13 includes the short U-shaped support 13A of left lower limb the first steering wheel、Left lower limb the first twin shaft steering wheel 13B、Left lower limb the second steering wheel U-shaped support 13C and two special steering wheel 13D of left lower limb first，Left lower limb calf joint 14 includes left lower limb the 3rd steering wheel 14A、Left lower limb the 3rd steering wheel supports support 14B and left lower limb the 3rd metal steering wheel 14C，Left lower limb chela joint 15 includes the little hands of left lower limb and grabs 15A、Left lower limb the second twin shaft steering wheel 15B、Left lower limb steering wheel tilted supporter 15C、Left lower limb the 3rd twin shaft steering wheel 15D、Left lower limb steering wheel fixed frame 15E and the big hands of left lower limb grab 15F，The little hands of left lower limb is grabbed 15A and is included two little handss of left lower limb and grab long metal bent plate 15AB、Multiple little handss of left lower limb grab short metal bent plate 15AA、Multiple little handss of left lower limb grab bolt 15AD and multiple little hands of left lower limb grabs nut 15AC,The big hands of left lower limb is grabbed 15F and is included two big handss of left lower limb and grab long metal bent plate 15FB、Multiple big handss of left lower limb grab short metal bent plate 15FA、Multiple big handss of left lower limb grab bolt 15FD and multiple big hands of left lower limb grabs nut 15FC；

nullThe output shaft of left lower limb the first steering wheel 11B by left lower limb the first metal steering wheel 11C be arranged on body triangle with lower triangular framing 4-1 in the middle of，Left lower limb the first steering wheel supports the support plate of support 11A and is arranged on the lateral wall of left lower limb the first steering wheel 11B，Left lower limb the second steering wheel supports a support plate of support 12A and is fixedly mounted on the lateral wall of left lower limb the second steering wheel 12C，The output shaft of left lower limb the second steering wheel 12C is arranged on a sidewall of the left lower limb U-shaped support 12B of the first steering wheel length by left lower limb the second metal steering wheel 12D，Another sidewall of another support plate and the U-shaped support 12B of the first steering wheel length that left lower limb the second steering wheel supports support 12A connects，The base plate of left lower limb the first steering wheel length U-shaped support 12B is fixing with the base plate of the left U-shaped support 13C of lower limb the second steering wheel to be connected，The base of left lower limb the first twin shaft steering wheel 13B is respectively and fixedly installed on two sidewalls of the short U-shaped support 13A of left lower limb the first steering wheel，Each output shaft of left lower limb the first twin shaft steering wheel 13B is rotationally connected with a sidewall of the left U-shaped support 13C of lower limb the second steering wheel respectively respectively through a left lower limb first special steering wheel 13D，Left lower limb the 3rd steering wheel supports the base plate of support 14B and is connected with short U-shaped the fixing of support 13A of left lower limb the first steering wheel，Left lower limb the 3rd steering wheel supports support 14B and is fixedly mounted on the lateral wall of left lower limb the 3rd steering wheel 14A，Left lower limb the 3rd metal steering wheel 14C is sleeved on the output shaft of left lower limb the 3rd steering wheel 14A，Each little hands of left lower limb grabs one end processing of long metal bent plate 15AB fixing plate，Multiple little handss of left lower limb are grabbed short metal bent plate 15AA and are arranged side by side，Two little handss of left lower limb are grabbed long metal bent plate 15AB and are separately positioned on multiple little hands of left lower limb and grab the both sides of short metal bent plate 15AA，Two little handss of left lower limb grab long metal bent plate 15AB and multiple little hands of left lower limb is grabbed short metal bent plate 15AA and grabbed by multiple little handss of left lower limb that bolt 15AD is fixing to be connected，And two little handss of left lower limb of arbitrary neighborhood grab long metal bent plate 15AB and the little hands of left lower limb is grabbed the little hands of left lower limb between short metal bent plate 15AA and grabbed bolt 15AD and be provided with a little hands of left lower limb and grab nut 15AC，It is identical with the camber direction that multiple little handss of left lower limb grab short metal bent plate 15AA that two little handss of left lower limb grab long metal bent plate 15AB，Two big handss of left lower limb are grabbed long metal bent plate 15FB and are arranged side by side，Multiple big handss of left lower limb are grabbed short metal bent plate 15FA and are disposed side by side on two big handss of left lower limb respectively and grab the both sides of long metal bent plate 15FB，Multiple big handss of left lower limb grab short metal bent plate 15FA and two big handss of left lower limb are grabbed long metal bent plate 15FB and grabbed the fixing connection of bolt 15FC by multiple big handss of left lower limb，And the big hands of the left lower limb of arbitrary neighborhood grabs short metal bent plate 15FA and the big hands of left lower limb is grabbed the big hands of left lower limb between long metal bent plate 15FB and grabbed bolt 15FD and be provided with a big hands of left lower limb and grab nut 15FC，The camber direction that multiple big handss of left lower limb grab short metal bent plate 15FA and two big handss of left lower limb grab long metal bent plate 15FB is identical，The outfan of the output shaft of left lower limb the 3rd steering wheel 14A is fixedly mounted on left lower limb steering wheel tilted supporter 15C，Left lower limb the second twin shaft steering wheel 15B and left lower limb the 3rd twin shaft steering wheel 15D is vertically arranged in left lower limb steering wheel fixed frame 15E，And the output shaft of left lower limb the second twin shaft steering wheel 15B and left lower limb the 3rd twin shaft steering wheel 15D is crisscross arranged，The output shaft of left lower limb the second twin shaft steering wheel 15B is positioned at the top of the output shaft of left front leg the 3rd twin shaft steering wheel 15D，The outfan of each output shaft of left lower limb the second twin shaft steering wheel 15B is fixing with a swash plate of left lower limb steering wheel tilted supporter 15C respectively to be connected，The outfan of each output shaft of left lower limb the 3rd twin shaft steering wheel 15D all grabs with the little hands of left lower limb that the fixing plate of long metal bent plate 15AB is fixing to be connected，The top that two big handss of left lower limb grab long metal bent plate 15FB is fixedly mounted on two output shafts of left lower limb the second steering wheel 15B，And the left little hands of lower limb grabs the camber direction that the camber direction of 15A and the big hands of left lower limb grab 15F and is oppositely arranged，Other is identical with detailed description of the invention two.

In present embodiment, left lower limb the first steering wheel 11B is prior art, and manufacturer is Zhong Keou roc company, and model is MG996R.

In present embodiment, left lower limb the second steering wheel 12C is prior art, and manufacturer is Zhong Keou roc company, and model is MG996R.

In present embodiment, left lower limb the first twin shaft steering wheel 13B is prior art, and manufacturer is Zhong Keou roc company, and model is LD-2015.

In present embodiment, left lower limb the 3rd steering wheel 14A is prior art, and manufacturer is Zhong Keou roc company, and model is MG996R.

In present embodiment, left lower limb the second twin shaft steering wheel 15B is prior art, and manufacturer is Zhong Keou roc company, and model is LD-2015.

In present embodiment, left lower limb the 3rd twin shaft steering wheel 15D is prior art, and manufacturer is Zhong Keou roc company, and model is LD-2015.

nullDetailed description of the invention four: combine in conjunction with Fig. 1、Fig. 2、Figure 13-Figure 20 illustrates present embodiment，A kind of tripod robot for deathtrap soil collecting described in present embodiment，Described right lower limb 2 includes right lower limb coxa joint 21、The big leg joint 22 of right lower limb、Right lower limb knee joint 23、Right lower limb calf joint 24 and right lower limb chela joint 25，Right lower limb coxa joint 21 includes right lower limb the first steering wheel and supports support 21A、Right lower limb the first steering wheel 21B and right lower limb the first metal steering wheel 21C，The big leg joint of right lower limb 22 includes right lower limb the second steering wheel and supports support 22A、The U-shaped support 22B of right lower limb the first steering wheel length、Right lower limb the second steering wheel 22C and right lower limb the second metal steering wheel 22D，Right lower limb knee joint 23 includes the short U-shaped support 23A of right lower limb the first steering wheel、Right lower limb the first twin shaft steering wheel 23B、Right lower limb the second steering wheel U-shaped support 23C and two special steering wheel 23D of right lower limb first，Right lower limb calf joint 24 includes right lower limb the 3rd steering wheel 24A、Right lower limb the 3rd steering wheel supports support 24B and right lower limb the 3rd metal steering wheel 24C，Right lower limb chela joint 25 includes the little hands of right lower limb and grabs 25A、Right lower limb the second twin shaft steering wheel 25B、Right lower limb steering wheel tilted supporter 25C、Right lower limb the 3rd twin shaft steering wheel 25D、Right lower limb steering wheel fixed frame 25E and the big hands of right lower limb grab 25F，The little hands of right lower limb is grabbed 25A and is included two little handss of right lower limb and grab long metal bent plate 25AB、Multiple little handss of right lower limb grab short metal bent plate 25AA、Multiple little handss of right lower limb grab bolt 25AD and multiple little hands of right lower limb grabs nut 25AC,The big hands of right lower limb is grabbed 25F and is included two big handss of right lower limb and grab long metal bent plate 25FB、Multiple big handss of right lower limb grab short metal bent plate 25FA、Multiple big handss of right lower limb grab bolt 25FD and multiple big hands of right lower limb grabs nut 25FC；

nullThe output shaft of right lower limb the first steering wheel 21B by right lower limb the first metal steering wheel 21C be arranged on body triangle with lower triangular framing 4-1 in the middle of，Right lower limb the first steering wheel supports the support plate of support 21A and is arranged on the lateral wall of right lower limb the first steering wheel 21B，Right lower limb the second steering wheel supports a support plate of support 22A and is fixedly mounted on the lateral wall of left lower limb the second steering wheel 22C，The output shaft of right lower limb the second steering wheel 22C is arranged on a sidewall of the right lower limb U-shaped support 22B of the first steering wheel length by right lower limb the second metal steering wheel 22D，Another sidewall of another support plate and the U-shaped support 22B of the first steering wheel length that right lower limb the second steering wheel supports support 22A connects，The base plate of right lower limb the first steering wheel length U-shaped support 22B is fixing with the base plate of the right U-shaped support 23C of lower limb the second steering wheel to be connected，The base of right lower limb the first twin shaft steering wheel 23B is respectively and fixedly installed on two sidewalls of the short U-shaped support 23A of right lower limb the first steering wheel，Each output shaft of right lower limb the first twin shaft steering wheel 23B is rotationally connected with a sidewall of the right U-shaped support 23C of lower limb the second steering wheel respectively respectively through a right lower limb first special steering wheel 23D，The base plate of right lower limb the first steering wheel length U-shaped support 22B is fixing with the base plate of the right U-shaped support 23C of lower limb the second steering wheel to be connected，The base plate of right lower limb the 3rd steering wheel support support 24B is fixing with the short U-shaped support 23A of right lower limb the first steering wheel to be connected，Right lower limb the 3rd steering wheel supports support 24B and is fixedly mounted on the lateral wall of right lower limb the 3rd steering wheel 24A，Right lower limb the 3rd metal steering wheel 24C is sleeved on the output shaft of right lower limb the 3rd steering wheel 24A，Each little hands of right lower limb grabs one end processing of long metal bent plate 25AB fixing plate，Multiple little handss of right lower limb are grabbed short metal bent plate 25AA and are arranged side by side，Two little handss of right lower limb are grabbed long metal bent plate 25AB and are separately positioned on multiple little hands of right lower limb and grab the both sides of short metal bent plate 25AA，Two little handss of right lower limb grab long metal bent plate 25AB and multiple little hands of right lower limb is grabbed short metal bent plate 25AA and grabbed by multiple little handss of right lower limb that bolt 25AD is fixing to be connected，And two little handss of right lower limb of arbitrary neighborhood grab long metal bent plate 25AB and the little hands of RAT is grabbed the little hands of right lower limb between short metal bent plate 25AA and grabbed bolt 25AD and be provided with a little hands of right lower limb and grab nut 25AC，It is identical with the camber direction that multiple little handss of right lower limb grab short metal bent plate 25AA that two little handss of right lower limb grab long metal bent plate 25AB，Two big handss of right lower limb are grabbed long metal bent plate 25FB and are arranged side by side，Multiple big handss of right lower limb are grabbed short metal bent plate 25FA and are disposed side by side on two big handss of right lower limb respectively and grab the both sides of long metal bent plate 25FB，Multiple big handss of right lower limb grab short metal bent plate 25FA and two big handss of right lower limb are grabbed long metal bent plate 25FB and grabbed the fixing connection of bolt 25FC by multiple big handss of right lower limb，And the big hands of the right lower limb of arbitrary neighborhood grabs short metal bent plate 25FA and the big hands of right lower limb is grabbed the big hands of right lower limb between long metal bent plate 25FB and grabbed bolt 25FD and be provided with a big hands of right lower limb and grab nut 25FC，The camber direction that multiple big handss of right lower limb grab short metal bent plate 25FA and two big handss of right lower limb grab long metal bent plate 25FB is identical，The outfan of the output shaft of right lower limb the 3rd steering wheel 24A is fixedly mounted on right lower limb steering wheel tilted supporter 25C，Right lower limb the second twin shaft steering wheel 25B and right lower limb the 3rd twin shaft steering wheel 25D is vertically arranged in right lower limb steering wheel fixed frame 25E，And the output shaft of right lower limb the second twin shaft steering wheel 25B and right lower limb the 3rd twin shaft steering wheel 25D is crisscross arranged，The output shaft of right lower limb the second twin shaft steering wheel 25B is positioned at the top of the output shaft of right lower limb the 3rd twin shaft steering wheel 25D，The outfan of each output shaft of right lower limb the second twin shaft steering wheel 25B is fixing with a swash plate of right lower limb steering wheel tilted supporter 25C respectively to be connected，The outfan of each output shaft of right lower limb the 3rd twin shaft steering wheel 25D all grabs with the little hands of right lower limb that the fixing plate of long metal bent plate 25AB is fixing to be connected，The top that two big handss of right lower limb grab long metal bent plate 25FB is fixedly mounted on two output shafts of right lower limb the second steering wheel 25B，And the right little hands of lower limb grabs the camber direction that the camber direction of 25A and the big hands of right lower limb grab 25F and is oppositely arranged，Other is identical with detailed description of the invention two.

In present embodiment, right lower limb the first steering wheel 21B is prior art, and manufacturer is Zhong Keou roc company, and model is MG996R.

In present embodiment, right lower limb the second steering wheel 22C is prior art, and manufacturer is Zhong Keou roc company, and model is MG996R.

In present embodiment, right lower limb the first twin shaft steering wheel 23B is prior art, and manufacturer is Zhong Keou roc company, and model is LD-2015.

In present embodiment, right lower limb the 3rd steering wheel 24A is prior art, and manufacturer is Zhong Keou roc company, and model is MG996R.

In present embodiment, right lower limb the second twin shaft steering wheel 25B is prior art, and manufacturer is Zhong Keou roc company, and model is LD-2015.

In present embodiment, right lower limb the 3rd twin shaft steering wheel 25D is prior art, and manufacturer is Zhong Keou roc company, and model is LD-2015.

nullDetailed description of the invention five: combine in conjunction with Fig. 1、Fig. 2、Figure 21-Figure 28 illustrates present embodiment，A kind of tripod robot for deathtrap soil collecting described in present embodiment，Described back leg 3 includes back leg coxa joint 31、The big leg joint 32 of back leg、Back leg knee joint 33、Back leg calf joint 34 and back leg chela joint 35，Back leg coxa joint 31 includes back leg the first steering wheel and supports support 31A、Back leg the first steering wheel 31B and back leg the first metal steering wheel 31C，The big leg joint 32 of rear foreleg includes back leg the second steering wheel and supports support 32A、The U-shaped support 32B of back leg the first steering wheel length、Back leg the second steering wheel 32C and back leg the second metal steering wheel 32D，Back leg knee joint 33 includes the short U-shaped support 33A of back leg the first steering wheel、Back leg the first twin shaft steering wheel 33B、Back leg the second steering wheel U-shaped support 33C and two special steering wheel 33D of back leg first，Back leg calf joint 34 includes back leg the 3rd steering wheel 34A、Back leg the 3rd steering wheel supports support 34B and back leg the 3rd metal steering wheel 34C，Back leg chela joint 35 includes the little hands of back leg and grabs 35A、Back leg the second twin shaft steering wheel 35B、Back leg steering wheel tilted supporter 35C、Back leg the 3rd twin shaft steering wheel 35D、Back leg steering wheel fixed frame 35E and the big hands of back leg grab 35F，The little hands of back leg is grabbed 35A and is included two little handss of back leg and grab long metal bent plate 35AB、The little hands of multiple back legs grabs short metal bent plate 35AA、The little hands of multiple back legs grabs bolt 35AD and the little hands of multiple back leg grabs nut 35AC,The big hands of back leg is grabbed 35F and is included two big handss of back leg and grab long metal bent plate 35FB、The big hands of multiple back legs grabs short metal bent plate 35FA、The big hands of multiple back legs grabs bolt 35FD and the big hands of multiple back leg grabs nut 35FC；

nullThe output shaft of back leg the first steering wheel 31B by back leg the first metal steering wheel 31C be arranged on body triangle with lower triangular framing 4-1 in the middle of，Back leg the first steering wheel supports the support plate of support 31A and is arranged on the lateral wall of back leg the first steering wheel 31B，Back leg the second steering wheel supports a support plate of support 32A and is fixedly mounted on the lateral wall of back leg the second steering wheel 32C，The output shaft of back leg the second steering wheel 32C is arranged on a sidewall of the back leg U-shaped support 32B of the first steering wheel length by back leg the second metal steering wheel 32D，Another sidewall of another support plate and the U-shaped support 32B of the first steering wheel length that back leg the second steering wheel supports support 32A connects，The base plate of back leg the first steering wheel length U-shaped support 32B is fixing with the base plate of the U-shaped support 13C of back leg the second steering wheel to be connected，The base of back leg the first twin shaft steering wheel 33B is respectively and fixedly installed on two sidewalls of the short U-shaped support 33A of back leg the first steering wheel，Each output shaft of back leg the first twin shaft steering wheel 33B is rotationally connected with a sidewall of the U-shaped support 33C of back leg the second steering wheel respectively respectively through a back leg first special steering wheel 33D，The base plate of back leg the first steering wheel length U-shaped support 32B is fixing with the base plate of the U-shaped support 33C of back leg the second steering wheel to be connected，The base plate of the base plate U-shaped support 33A short in back leg the first steering wheel of back leg the 3rd steering wheel support support 34B is fixing to be connected，Back leg the 3rd steering wheel supports support 34B and is fixedly mounted on the lateral wall of back leg the 3rd steering wheel 34A，Back leg the 3rd metal steering wheel 34C is sleeved on the output shaft of back leg the 3rd steering wheel 34A，The little hands of each back leg grabs one end processing of long metal bent plate 35AB fixing plate，The little hands of multiple back legs is grabbed short metal bent plate 35AA and is arranged side by side，Two little handss of back leg are grabbed long metal bent plate 35AB and are separately positioned on the little hands of multiple back leg and grab the both sides of short metal bent plate 35AA，Two little handss of back leg grab long metal bent plate 35AB and the little hands of multiple back leg is grabbed short metal bent plate 35AA and grabbed by the little hands of multiple back legs that bolt 35AD is fixing to be connected，And two little handss of back leg of arbitrary neighborhood grab long metal bent plate 35AB and the little hands of back leg is grabbed the little hands of back leg between short metal bent plate 35AA and grabbed bolt 35AD and be provided with a little hands of back leg and grab nut 35AC，Two little handss of back leg grab long metal bent plate 35AB, and grab the camber direction of short metal bent plate 35AA with the little hands of multiple back legs identical，Two big handss of back leg are grabbed long metal bent plate 35FB and are arranged side by side，The big hands of multiple back legs is grabbed short metal bent plate 35FA and is disposed side by side on two big handss of back leg respectively and grabs the both sides of long metal bent plate 35FB，The big hands of multiple back legs grabs short metal bent plate 35FA and two big handss of back leg are grabbed long metal bent plate 35FB and grabbed the fixing connection of bolt 35FC by the big hands of multiple back legs，And the big hands of arbitrary neighborhood back leg grabs short metal bent plate 35FA and the big hands of back leg is grabbed the big hands of back leg between long metal bent plate 35FB and grabbed bolt 35FD and be provided with a big hands of back leg and grab nut 35FC，The camber direction that the big hands of multiple back legs grabs short metal bent plate 35FA and two big handss of back leg grab long metal bent plate 35FB is identical，The outfan of the output shaft of back leg the 3rd steering wheel 34A is fixedly mounted on back leg steering wheel tilted supporter 35C，Back leg the second twin shaft steering wheel 35B and back leg the 3rd twin shaft steering wheel 35D is vertically arranged in back leg steering wheel fixed frame 35E，And the output shaft of back leg the second twin shaft steering wheel 35B and back leg the 3rd twin shaft steering wheel 35D is crisscross arranged，The output shaft of back leg the second twin shaft steering wheel 35B is positioned at the top of the output shaft of back leg the 3rd twin shaft steering wheel 35D，The outfan of each output shaft of back leg the second twin shaft steering wheel 35B is fixing with a swash plate of back leg steering wheel tilted supporter 35C respectively to be connected，The outfan of each output shaft of back leg the 3rd twin shaft steering wheel 35D all grabs with the little hands of back leg that the fixing plate of long metal bent plate 35AB is fixing to be connected，The top that two big handss of left lower limb grab long metal bent plate 35FB is fixedly mounted on two output shafts of left lower limb the second steering wheel 35B，And the little hands of back leg grabs the camber direction that the camber direction of 35A and the big hands of back leg grab 35F and is oppositely arranged，Other is identical with detailed description of the invention two.

In present embodiment, back leg the first steering wheel 31B is prior art, and manufacturer is Zhong Keou roc company, and model is MG996R.

In present embodiment, back leg the second steering wheel 32C is prior art, and manufacturer is Zhong Keou roc company, and model is MG996R.

In present embodiment, back leg the first twin shaft steering wheel 33B is prior art, and manufacturer is Zhong Keou roc company, and model is LD-2015.

In present embodiment, back leg the 3rd steering wheel 34A is prior art, and manufacturer is Zhong Keou roc company, and model is MG996R.

In present embodiment, back leg the second twin shaft steering wheel 35B is prior art, and manufacturer is Zhong Keou roc company, and model is LD-2015.

In present embodiment, back leg the 3rd twin shaft steering wheel 35D is prior art, and manufacturer is Zhong Keou roc company, and model is LD-2015.

Detailed description of the invention six: present embodiment is described in conjunction with Fig. 1-Figure 28, a kind of tripod robot for deathtrap soil collecting described in present embodiment, described robot has 18 degree of freedom with the active rotation of steering wheel for driving；

1 first degree of freedom: referring to the active rotation of output shaft around left lower limb the first steering wheel 11B, the output shaft of described left lower limb the first steering wheel 11B is parallel to Z axis, it is achieved left lower limb coxa joint 11 moves, and performs the swing of left lower limb 1；

2 second degree of freedom: referring to the active rotation of output shaft around left lower limb the second steering wheel 12C, the output shaft of described left lower limb the second steering wheel 12C is perpendicular to Z axis, it is achieved the motion of the big leg joint 12 of left lower limb, performs lifting and falling of the big leg joint 12 of left lower limb；

3 Three Degree Of Freedoms: refer to the active rotation of output shaft around left lower limb the first twin shaft steering wheel 13B, the output shaft of described left lower limb the first twin shaft steering wheel 13B is perpendicular to Z axis, realize the motion of left lower limb knee joint 13, assist the big leg joint 12 of left lower limb to complete to step lower limb action, be used for adjusting lower limb amplitude advanced in years；

4 four-degree-of-freedoms: referring to the active rotation of output shaft around left lower limb the 3rd steering wheel 14A, the output shaft of described left lower limb the 3rd steering wheel 14A is parallel to Z axis, it is achieved the rotation in left lower limb chela joint 15, perform to carry out the work of soil collecting special project；

5 five degree of freedom: refer to the active rotation of output shaft around left lower limb the second twin shaft steering wheel 15B, it is achieved the big hands of left lower limb grabs the opening and closing of 15F, perform soil and excavate and gripping special project work；

6 six degree of freedoms: refer to the active rotation of output shaft around left lower limb the 3rd twin shaft steering wheel 15D, it is achieved the big hands of left lower limb grabs the opening and closing of 15A, perform soil and excavate and gripping special project work；

7 seven freedoms: referring to the active rotation of output shaft around right lower limb the first steering wheel 21B, the output shaft of described right lower limb the first steering wheel 21B is parallel to Z axis, it is achieved right lower limb coxa joint 21 moves, and performs the swing of right lower limb 2；

8 eight degrees of freedom: referring to the active rotation of the output shaft of right lower limb the second steering wheel 22C, the output shaft of described right lower limb the second steering wheel 22C is perpendicular to Z axis, it is achieved the motion of the big leg joint 22 of right lower limb, performs lifting and falling of the big leg joint 22 of right lower limb；

9 nine-degree of freedom: refer to the active rotation of output shaft around right lower limb the first twin shaft steering wheel 23B, the output shaft of described right lower limb the first twin shaft steering wheel 23B is perpendicular to Z axis, realize the motion of right lower limb knee joint 23, assist the big leg joint 22 of right lower limb to complete to step lower limb action, be used for adjusting lower limb amplitude advanced in years；

10 the tenth degree of freedom: refer to the active rotation of the output shaft of right lower limb the 3rd steering wheel 24A, it is achieved the rotation in right lower limb chela joint 25, perform to carry out the work of soil collecting special project；

11 the tenth single-degree-of-freedoms: refer to the active rotation of output shaft around left lower limb the second twin shaft steering wheel 25B, it is achieved the big hands of left lower limb grabs the opening and closing of 25F, perform soil and excavate and gripping special project work；

12 the tenth two degrees of freedom: refer to the active rotation of output shaft around left lower limb the 3rd twin shaft steering wheel 25D, it is achieved the big hands of left lower limb grabs the opening and closing of 25A, perform soil and excavate and gripping special project work；

13 thirteen-degree-of-freedoms: referring to the active rotation of output shaft around back leg the first steering wheel 31B, the output shaft of described back leg the first steering wheel 31B is parallel to Z axis, it is achieved back leg coxa joint 31 moves, and performs the swing of right lower limb 3；

14 the tenth four-degree-of-freedoms: referring to the active rotation of output shaft around back leg the second steering wheel 32C, the output shaft of described back leg the second steering wheel 32C is perpendicular to Z axis, it is achieved the motion of the big leg joint 32 of back leg, perform lifting and falling of the big leg joint 32 of back leg；

15 the tenth five degree of freedom: refer to the active rotation of output shaft around back leg the first twin shaft steering wheel 33B, the output shaft of described back leg the first twin shaft steering wheel 33B is perpendicular to Z axis, realize the motion of back leg knee joint 33, assist the big leg joint 32 of back leg to complete to step lower limb action, be used for adjusting lower limb amplitude advanced in years；

16 the tenth six degree of freedoms: refer to the active rotation of output shaft around back leg the 3rd steering wheel 34A, it is achieved the rotation in back leg chela joint 35, perform to carry out the work of soil collecting special project；

17 the tenth seven freedoms: refer to the active rotation of output shaft around back leg the second twin shaft steering wheel 35B, it is achieved the big hands of back leg grabs the opening and closing of 35F, perform soil and excavate and gripping special project work；

18 the tenth eight degrees of freedom: refer to the active rotation of the output shaft of back leg the 3rd twin shaft steering wheel 35D, it is achieved back leg refers to the opening and closing of support joint 35A, perform soil and excavate and gripping special project work；Other with detailed description of the invention one, two, three, four, five or six identical.

Operation principle

The operation principle of 3 three lower limbs of left lower limb 1 of the present utility model, right lower limb 2 and back leg is identical, when left lower limb 1 lifts, left lower limb the first steering wheel 11B being controlled left front leg coxa joint 11 by controller 5 is rotated forward, left lower limb the first steering wheel 11B supports the transmission of support 11A through the first steering wheel, drives big leg joint 12 to rotate forward simultaneously.Control steering wheel 12C while rotating forward by controller 5, lift knee joint 13.Controller 5 controls left front leg the first twin shaft steering wheel 13B and lifts left lower limb calf joint 14 and left lower limb chela joint 15.

The process completing a cycle gait is as follows: left lower limb the first steering wheel 11B being controlled left lower limb coxa joint 11 by controller 5 is rotated forward, and left lower limb the first steering wheel 11B supports the transmission of support 11A through the first steering wheel, drives big leg joint 12 to rotate forward simultaneously.Control steering wheel 12C while rotating forward by controller 5, lift knee joint 13.Controller 5 controls foreleg the first twin shaft steering wheel 13B and lifts left lower limb calf joint 14 and left lower limb chela joint 15.Meanwhile, back leg 3 controls back leg the first steering wheel 31B of back leg coxa joint 31 to right rotation by controller 5, and back leg the first steering wheel 31B supports the transmission of support 31A through the first steering wheel, drives big leg joint 32 simultaneously to right rotation.Control steering wheel 32C dextrorotary while by controller 5, lift knee joint 33.Controller 5 controls back leg the first twin shaft steering wheel 33B and lifts back leg calf joint 34 and back leg chela joint 35.Meanwhile, right lower limb the first steering wheel 21B being controlled right lower limb coxa joint 21 by controller 5 is rotated forward, and right lower limb the first steering wheel 21B supports the transmission of support 21A through the first steering wheel, drives big leg joint 22 to rotate forward simultaneously.Control steering wheel 22C while rotating forward by controller 5, lift knee joint 23.Controller 5 controls right lower limb the first twin shaft steering wheel 23B and lifts left lower limb calf joint 24 and left lower limb chela joint 25.After right lower limb contacts to earth, tripod robot completes a cycle gait walking.Running according to this process cycle, tripod robot just can realize continuous walking.

Complete soil collecting process as follows: control back leg the first twin shaft steering wheel 33B by controller 5 and be rotated down, fall knee joint 13, control back leg the second twin shaft steering wheel 35B and back leg the 3rd twin shaft steering wheel 35D by controller 5 to rotate to outward turning simultaneously, complete soil mining process, control back leg the second twin shaft steering wheel 35B and back leg the 3rd twin shaft steering wheel 35D by controller 5 inwardly to rotate, complete soil gripping process.Soil collecting just can be realized according to this flow process tripod robot.

Claims (6)

1. the tripod robot for deathtrap soil collecting, it is characterized in that: described robot includes left lower limb (1), right lower limb (2), back leg (3), trunk body (4) and controller (5), trunk body (4) is equilateral triangle framework, left lower limb (1), right lower limb (2) is identical with the structure of back leg (3), trunk body (4) is horizontally disposed with, left lower limb 1, right lower limb 2, it is symmetrically arranged on three angles of trunk body 4 with back leg 3, controller 5 is fixedly mounted on trunk body 4, and controller 5 respectively with left lower limb 1, right lower limb 2 and back leg 3 control to connect, it is Y-axis that trunk body 4 place plane is perpendicular to the direction of X-axis, the direction being perpendicular to X-axis and the formed plane of Y-axis is Z axis.

2. a kind of tripod robot for deathtrap soil collecting according to claim 1, it is characterized in that: described trunk body (4) includes two equilateral triangle framework (4-1) consistencies from top to bottom and arranges, and controller (5) is disposed on triangular framing (4-1).

null3. a kind of tripod robot for deathtrap soil collecting according to claim 2，It is characterized in that: described left lower limb (1) includes left lower limb coxa joint (11)、The big leg joint of left lower limb (12)、Left lower limb knee joint (13)、Left lower limb calf joint (14) and left lower limb chela joint (15)，Left lower limb coxa joint (11) includes left lower limb the first steering wheel and supports support (11A)、Left lower limb the first steering wheel (11B) and left lower limb the first metal steering wheel (11C)，The big leg joint of left lower limb (12) includes left lower limb the second steering wheel and supports support (12A)、The left lower limb U-shaped support of the first steering wheel length (12B)、Left lower limb the second steering wheel (12C)、With left lower limb the second metal steering wheel (12D)，Left lower limb knee joint (13) includes the short U-shaped support (13A) of left lower limb the first steering wheel、Left lower limb the first twin shaft steering wheel (13B)、The U-shaped support of left lower limb the second steering wheel (13C) and two the special steering wheel of left lower limbs first (13D)，Left lower limb calf joint (14) includes left lower limb the 3rd steering wheel (14A)、Left lower limb the 3rd steering wheel supports support (14B) and left lower limb the 3rd metal steering wheel (14C)，Left lower limb chela joint (15) includes the little hands of left lower limb and grabs (15A)、Left lower limb the second twin shaft steering wheel (15B)、Left lower limb steering wheel tilted supporter (15C)、Left lower limb the 3rd twin shaft steering wheel (15D)、Left lower limb steering wheel fixed frame (15E) and the big hands of left lower limb grab (15F)，The little hands of left lower limb is grabbed (15A) and is included two little handss of left lower limb and grab long metal bent plate (15AB)、Multiple little handss of left lower limb grab short metal bent plate (15AA)、Multiple little handss of left lower limb grab bolt (15AD) and multiple little hands of left lower limb grabs nut (15AC),The big hands of left lower limb is grabbed (15F) and is included two big handss of left lower limb and grab long metal bent plate (15FB)、Multiple big handss of left lower limb grab short metal bent plate (15FA)、Multiple big handss of left lower limb grab bolt (15FD) and multiple big hands of left lower limb grabs nut (15FC)；

nullThe output shaft of left lower limb the first steering wheel (11B) by left lower limb the first metal steering wheel (11C) be arranged on body triangle with lower triangular framing (4-1) in the middle of，Left lower limb the first steering wheel supports the support plate of support (11A) and is arranged on the lateral wall of left front leg the first steering wheel (11B)，Left lower limb the second steering wheel supports a support plate of support (12A) and is fixedly mounted on the lateral wall of left lower limb the second steering wheel (12C)，The output shaft of left lower limb the second steering wheel (12C) is arranged on a sidewall of the left lower limb U-shaped support of the first steering wheel length (12B) by left lower limb the second metal steering wheel (12D)，Another sidewall of another support plate and the U-shaped support of the first steering wheel length (12B) that left lower limb the second steering wheel supports support (12A) connects，The base plate of the left lower limb U-shaped support of the first steering wheel length (12B) is fixing with the base plate of the U-shaped support of left lower limb the second steering wheel (13C) to be connected，The base of left lower limb the first twin shaft steering wheel (13B) is respectively and fixedly installed on two sidewalls of the short U-shaped support (13A) of left lower limb the first steering wheel，Each output shaft of left lower limb the first twin shaft steering wheel (13B) is rotationally connected with a sidewall of the U-shaped support of left lower limb the second steering wheel (13C) respectively respectively through the special steering wheel of a left lower limb first (13D)，The base plate of the left lower limb U-shaped support of the first steering wheel length (12B) is fixing with the base plate of the U-shaped support of left lower limb the second steering wheel (13C) to be connected，The base plate of left lower limb the 3rd steering wheel support support (14B) is fixing with the short U-shaped support (13A) of left lower limb the first steering wheel to be connected，Left lower limb the 3rd steering wheel supports support (14B) and is fixedly mounted on the lateral wall of left lower limb the 3rd steering wheel (14A)，Left lower limb the 3rd metal steering wheel (14C) is sleeved on the output shaft of left lower limb the 3rd steering wheel (14A)，Each little hands of left lower limb grabs one end processing of long metal bent plate (15AB) fixing plate，Multiple little handss of left lower limb are grabbed short metal bent plate (15AA) and are arranged side by side，Two little handss of left lower limb are grabbed long metal bent plate (15AB) and are separately positioned on multiple little hands of left lower limb and grab the both sides of short metal bent plate (15AA)，Two little handss of left lower limb grab long metal bent plate (15AB) and multiple little hands of left lower limb is grabbed short metal bent plate (15AA) and grabbed by multiple little handss of left lower limb that bolt (15AD) is fixing to be connected，And two little handss of left lower limb of arbitrary neighborhood grab long metal bent plate (15AB) and the little hands of left lower limb is grabbed the little hands of left lower limb between short metal bent plate (15AA) and grabbed bolt (15AD) and be provided with a little hands of left lower limb and grab nut (15AC)，It is identical with the camber direction that multiple little handss of left lower limb grab short metal bent plate (15AA) that two little handss of left lower limb grab long metal bent plate (15AB)，Two big handss of left lower limb are grabbed long metal bent plate (15FB) and are arranged side by side，Multiple big handss of left lower limb are grabbed short metal bent plate (15FA) and are disposed side by side on two big handss of left lower limb respectively and grab the both sides of long metal bent plate (15FB)，Multiple big handss of left lower limb grab short metal bent plate (15FA) and two big handss of left lower limb are grabbed long metal bent plate (15FB) and grabbed the fixing connection of bolt (15FD) by multiple big handss of left lower limb，And the big hands of the left lower limb of arbitrary neighborhood grabs short metal bent plate (15FA) and the big hands of left lower limb is grabbed the big hands of left lower limb between long metal bent plate (15FB) and grabbed bolt (15FD) and be provided with a big hands of left lower limb and grab nut (15FC)，It is identical with the camber direction that two big handss of left lower limb grab long metal bent plate (15FB) that multiple big handss of left lower limb grab short metal bent plate (15FA)，The outfan of the output shaft of left lower limb the 3rd steering wheel (14A) is fixedly mounted on left lower limb steering wheel tilted supporter (15C)，Left lower limb the second twin shaft steering wheel (15B) and left lower limb the 3rd twin shaft steering wheel (15D) are vertically arranged in left lower limb steering wheel fixed frame (15E)，And the output shaft of left lower limb the second twin shaft steering wheel (15B) and left lower limb the 3rd twin shaft steering wheel (15D) is crisscross arranged，The output shaft of left lower limb the second twin shaft steering wheel (15B) is positioned at the top of the output shaft of left lower limb the 3rd twin shaft steering wheel (15D)，The outfan of each output shaft of left lower limb the second twin shaft steering wheel (15B) is fixing with a swash plate of left lower limb steering wheel tilted supporter (15C) respectively to be connected，The outfan of each output shaft of left lower limb the 3rd twin shaft steering wheel (15D) all grabs with the little hands of left lower limb that the fixing plate of long metal bent plate (15AB) is fixing to be connected，The top that two big handss of left lower limb grab long metal bent plate (15FB) is fixedly mounted on two output shafts of left lower limb the second steering wheel 15B，And the left little hands of lower limb grabs the camber direction that the camber direction of (15A) and the big hands of left lower limb grab (15F) and is oppositely arranged.

null4. a kind of tripod robot for deathtrap soil collecting according to claim 2，It is characterized in that: described right lower limb (2) includes right lower limb coxa joint (21)、Big leg joint (22) before right、Right lower limb knee joint (23)、Right lower limb calf joint (24) and right lower limb chela joint (25)，Right lower limb coxa joint (21) includes right lower limb the first steering wheel and supports support (21A)、Right lower limb the first steering wheel (21B) and right lower limb the first metal steering wheel (21C)，The big leg joint of right lower limb (22) includes right lower limb the second steering wheel and supports support (22A)、The right lower limb U-shaped support of the first steering wheel length (22B)、Right lower limb the second steering wheel (22C) and right lower limb the second metal steering wheel (22D)，Right lower limb knee joint (23) includes the short U-shaped support (23A) of right lower limb the first steering wheel、Right lower limb the first twin shaft steering wheel (23B)、The U-shaped support of right lower limb the second steering wheel (23C) and two the special steering wheel of right lower limbs first (23D)，Right lower limb calf joint (24) includes foreleg the 3rd steering wheel (24A)、Right lower limb the 3rd steering wheel supports support (24B) and right lower limb the 3rd metal steering wheel (24C)，Right lower limb chela joint (25) includes the little hands of right lower limb and grabs (25A)、Right lower limb the second twin shaft steering wheel (25B)、Right lower limb steering wheel tilted supporter (25C)、Right lower limb the 3rd twin shaft steering wheel (25D)、Right lower limb steering wheel fixed frame (25E) and the big hands of right lower limb grab (25F)，The little hands of right lower limb is grabbed (25A) and is included two little handss of right lower limb and grab long metal bent plate (25AB)、Multiple little handss of right lower limb grab short metal bent plate (25AA)、Multiple little handss of right lower limb grab bolt (25AD) and multiple little hands of right lower limb grabs nut (25AC),The big hands of right lower limb is grabbed (25F) and is included two big handss of right lower limb and grab long metal bent plate (25FB)、Multiple big handss of right lower limb grab short metal bent plate (25FA)、Multiple big handss of right lower limb grab bolt (25FD) and multiple big hands of right lower limb grabs nut (25FC)；

nullThe output shaft of right lower limb the first steering wheel (21B) by right lower limb the first metal steering wheel (21C) be arranged on body triangle with lower triangular framing (4-1) in the middle of，Right lower limb the first steering wheel supports the support plate of support (21A) and is arranged on the lateral wall of right lower limb the first steering wheel (21B)，RAT the second steering wheel supports a support plate of support (22A) and is fixedly mounted on the lateral wall of right lower limb the second steering wheel (22C)，The output shaft of right lower limb the second steering wheel (22C) is arranged on a sidewall of the right lower limb U-shaped support of the first steering wheel length (22B) by right lower limb the second metal steering wheel (22D)，Another sidewall of another support plate and the U-shaped support of the first steering wheel length (22B) that right lower limb the second steering wheel supports support (22A) connects，The base plate of the right lower limb U-shaped support of the first steering wheel length (22B) is fixing with the base plate of the U-shaped support of right lower limb the second steering wheel (23C) to be connected，The base of right lower limb the first twin shaft steering wheel (23B) is respectively and fixedly installed on two sidewalls of the short U-shaped support (23A) of right lower limb the first steering wheel，Each output shaft of right lower limb the first twin shaft steering wheel (23B) is rotationally connected with a sidewall of the U-shaped support of right lower limb the second steering wheel (23C) respectively respectively through the special steering wheel of a right lower limb first (23D)，The base plate of the right lower limb U-shaped support of the first steering wheel length (22B) is fixing with the base plate of the U-shaped support of right lower limb the second steering wheel (23C) to be connected，The base plate of right lower limb the 3rd steering wheel support support (24B) is fixing with the short U-shaped support (23A) of right lower limb the first steering wheel to be connected，Right lower limb the 3rd steering wheel supports support (24B) and is fixedly mounted on the lateral wall of right lower limb the 3rd steering wheel (24A)，Right lower limb the 3rd metal steering wheel (24C) is sleeved on the output shaft of right lower limb the 3rd steering wheel (24A)，Each little hands of right lower limb grabs one end processing of long metal bent plate (25AB) fixing plate，Multiple little handss of right lower limb are grabbed short metal bent plate (25AA) and are arranged side by side，Two little handss of right lower limb are grabbed long metal bent plate (25AB) and are separately positioned on multiple little hands of right lower limb and grab the both sides of short metal bent plate (25AA)，Two little handss of right lower limb grab long metal bent plate (25AB) and multiple little hands of right lower limb is grabbed short metal bent plate (25AA) and grabbed by multiple little handss of right lower limb that bolt (25AD) is fixing to be connected，And two little handss of right lower limb of arbitrary neighborhood grab long metal bent plate (25AB) and the little hands of right lower limb is grabbed the little hands of right lower limb between short metal bent plate (25AA) and grabbed bolt (25AD) and be provided with a little hands of right lower limb and grab nut (25AC)，It is identical with the camber direction that multiple little handss of right lower limb grab short metal bent plate (25AA) that two little handss of right lower limb grab long metal bent plate (25AB)，Two big handss of right lower limb are grabbed long metal bent plate (25FB) and are arranged side by side，Multiple big handss of right lower limb are grabbed short metal bent plate (25FA) and are disposed side by side on two big handss of right lower limb respectively and grab the both sides of long metal bent plate (25FB)，Multiple big handss of right lower limb grab short metal bent plate (25FA) and two big handss of right lower limb are grabbed long metal bent plate (25FB) and grabbed the fixing connection of bolt (25FD) by multiple big handss of right lower limb，And the big hands of the right lower limb of arbitrary neighborhood grabs short metal bent plate (25FA) and the big hands of right lower limb is grabbed the big hands of right lower limb between long metal bent plate (25FB) and grabbed bolt (25FD) and be provided with a big hands of right lower limb and grab nut (25FC)，It is identical with the camber direction that two big handss of right lower limb grab long metal bent plate (25FB) that multiple big handss of right lower limb grab short metal bent plate (25FA)，The outfan of the output shaft of right lower limb the 3rd steering wheel (24A) is fixedly mounted on right lower limb steering wheel tilted supporter (25C)，Right lower limb the second twin shaft steering wheel (25B) and right lower limb the 3rd twin shaft steering wheel (25D) are vertically arranged in right lower limb steering wheel fixed frame (25E)，And the output shaft of right lower limb the second twin shaft steering wheel (25B) and right lower limb the 3rd twin shaft steering wheel (25D) is crisscross arranged，The output shaft of right lower limb the second twin shaft steering wheel (25B) is positioned at the top of the output shaft of right lower limb the 3rd twin shaft steering wheel (25D)，The outfan of each output shaft of right lower limb the second twin shaft steering wheel (25B) is fixing with a swash plate of right lower limb steering wheel tilted supporter (25C) respectively to be connected，The outfan of each output shaft of right lower limb the 3rd twin shaft steering wheel (25D) all grabs with the little hands of right lower limb that the fixing plate of long metal bent plate (25AB) is fixing to be connected，The top that two big handss of right lower limb grab long metal bent plate (25FB) is fixedly mounted on two output shafts of right lower limb the second steering wheel 25B，And the right little hands of lower limb grabs the camber direction that the camber direction of (25A) and the big hands of right lower limb grab (25F) and is oppositely arranged.

null5. a kind of tripod robot for deathtrap soil collecting according to claim 2，It is characterized in that: back leg (3) includes back leg coxa joint (31)、The big leg joint of back leg (32)、Back leg knee joint (33)、Back leg calf joint (34) and back leg chela joint (35)，Back leg coxa joint (31) includes back leg the first steering wheel and supports support (31A)、Back leg the first steering wheel (31B) and back leg the first metal steering wheel (31C)，The big leg joint of back leg (32) includes back leg the second steering wheel and supports support (32A)、The back leg U-shaped support of the first steering wheel length (32B)、Back leg the second steering wheel (32C) and back leg the second metal steering wheel (32D)，Back leg knee joint (33) includes the short U-shaped support (33A) of back leg the first steering wheel、Back leg the first twin shaft steering wheel (33B)、The U-shaped support of back leg the second steering wheel (33C) and two the special steering wheel of back legs first (33D)，Back leg calf joint (34) includes back leg the 3rd steering wheel (34A)、Back leg the 3rd steering wheel supports support (34B) and back leg the 3rd metal steering wheel (34C)，Back leg chela joint (35) includes the little hands of back leg and grabs (35A)、Back leg the second twin shaft steering wheel (35B)、Back leg steering wheel tilted supporter (35C)、Back leg the 3rd twin shaft steering wheel (35D)、Back leg steering wheel fixed frame (35E) and the big hands of back leg grab (35F)，The little hands of back leg is grabbed (35A) and is included two little handss of back leg and grab long metal bent plate (35AB)、The little hands of multiple back legs grabs short metal bent plate (35AA)、The little hands of multiple back legs grabs bolt (35AD) and the little hands of multiple back leg grabs nut (35AC),The big hands of back leg is grabbed (35F) and is included two big handss of back leg and grab long metal bent plate (35FB)、The big hands of multiple back legs grabs short metal bent plate (35FA)、The big hands of multiple back legs grabs bolt (35FD) and the big hands of multiple back leg grabs nut (35FC)；

nullThe output shaft of back leg the first steering wheel (31B) by back leg the first metal steering wheel (31C) be arranged on body triangle with lower triangular framing (4-1) in the middle of，Back leg the first steering wheel supports the support plate of support (31A) and is arranged on the lateral wall of back leg the first steering wheel (31B)，Back leg the second steering wheel supports a support plate of support (32A) and is fixedly mounted on the lateral wall of back leg the second steering wheel (32C)，The output shaft of back leg the second steering wheel (32C) is arranged on a sidewall of the back leg U-shaped support of the first steering wheel length (32B) by back leg the second metal steering wheel (32D)，Another sidewall of another support plate and the U-shaped support of the first steering wheel length (32B) that back leg the second steering wheel supports support (32A) connects，The base plate of the back leg U-shaped support of the first steering wheel length (32B) is fixing with the base plate of the U-shaped support of back leg the second steering wheel (13C) to be connected，The base of back leg the first twin shaft steering wheel (33B) is respectively and fixedly installed on two sidewalls of the short U-shaped support (33A) of back leg the first steering wheel，Each output shaft of back leg the first twin shaft steering wheel (33B) is rotationally connected with a sidewall of the U-shaped support of back leg the second steering wheel (33C) respectively respectively through the special steering wheel of a back leg first (33D)，The base plate of the back leg U-shaped support of the first steering wheel length (32B) is fixing with the base plate of the U-shaped support of back leg the second steering wheel (33C) to be connected，The base plate of base plate and the short U-shaped support (33A) of back leg the first steering wheel that back leg the 3rd steering wheel supports support (34B) is fixed and is connected，Back leg the 3rd steering wheel supports support (34B) and is fixedly mounted on the lateral wall of back leg the 3rd steering wheel (34A)，Back leg the 3rd metal steering wheel (34C) is sleeved on the output shaft of back leg the 3rd steering wheel (34A)，The little hands of each back leg grabs one end processing of long metal bent plate (35AB) fixing plate，The little hands of multiple back legs is grabbed short metal bent plate (35AA) and is arranged side by side，Two little handss of back leg are grabbed long metal bent plate (35AB) and are separately positioned on the little hands of multiple back leg and grab the both sides of short metal bent plate (35AA)，Two little handss of back leg grab long metal bent plate (35AB) and the little hands of multiple back leg is grabbed short metal bent plate (35AA) and grabbed by the little hands of multiple back legs that bolt (35AD) is fixing to be connected，And two little handss of back leg of arbitrary neighborhood grab long metal bent plate (35AB) and the little hands of back leg is grabbed the little hands of back leg between short metal bent plate (35AA) and grabbed bolt (35AD) and be provided with a little hands of back leg and grab nut (35AC)，Two little handss of back leg grab long metal bent plate (35AB), and grab the camber direction of short metal bent plate (35AA) with the little hands of multiple back legs identical，Two big handss of back leg are grabbed long metal bent plate (35FB) and are arranged side by side，The big hands of multiple back legs is grabbed short metal bent plate (35FA) and is disposed side by side on two big handss of back leg respectively and grabs the both sides of long metal bent plate (35FB)，The big hands of multiple back legs grabs short metal bent plate (35FA) and two big handss of back leg are grabbed long metal bent plate (35FB) and grabbed the fixing connection of bolt (35FD) by the big hands of multiple back legs，And the big hands of arbitrary neighborhood back leg grabs short metal bent plate (35FA) and the big hands of back leg is grabbed the big hands of back leg between long metal bent plate (35FB) and grabbed bolt (35FD) and be provided with a big hands of back leg and grab nut (35FC)，It is identical with the camber direction that two big handss of back leg grab long metal bent plate (35FB) that the big hands of multiple back legs grabs short metal bent plate (35FA)，The outfan of the output shaft of back leg the 3rd steering wheel 34A is fixedly mounted on back leg steering wheel tilted supporter (35C)，Back leg the second twin shaft steering wheel (35B) and back leg the 3rd twin shaft steering wheel (35D) are vertically arranged in back leg steering wheel fixed frame (35E)，And the output shaft of back leg the second twin shaft steering wheel (35B) and back leg the 3rd twin shaft steering wheel (35D) is crisscross arranged，The output shaft of back leg the second twin shaft steering wheel (35B) is positioned at the top of the output shaft of back leg the 3rd twin shaft steering wheel (35D)，The outfan of each output shaft of back leg the second twin shaft steering wheel (35B) is fixing with a swash plate of back leg steering wheel tilted supporter (35C) respectively to be connected，The outfan of each output shaft of back leg the 3rd twin shaft steering wheel (35D) all grabs with the little hands of back leg that the fixing plate of long metal bent plate (35AB) is fixing to be connected，The top that two big handss of back leg grab long metal bent plate (35FB) is fixedly mounted on two output shafts of back leg the second steering wheel 35B，And the little hands of back leg grabs the camber direction that the camber direction of (35A) and the big hands of back leg grab (35F) and is oppositely arranged.

6. a kind of tripod robot for deathtrap soil collecting according to claim 1,2,3,4 or 5, it is characterised in that: described robot has 18 degree of freedom with the active rotation of steering wheel for driving；

First degree of freedom: referring to the active rotation of output shaft around left lower limb the first steering wheel (11B), the output shaft of described left lower limb the first steering wheel (11B) is parallel to Z axis；

Second degree of freedom: referring to the active rotation of output shaft around left lower limb the second steering wheel (12C), the output shaft of described left lower limb the second steering wheel (12C) is perpendicular to Z axis；

Three Degree Of Freedom: referring to the active rotation of output shaft around left lower limb the first twin shaft steering wheel (13B), the output shaft of described left lower limb the first twin shaft steering wheel (13B) is perpendicular to Z axis；

Four-degree-of-freedom: referring to the active rotation of output shaft around left lower limb the 3rd steering wheel (14A), the output shaft of described left lower limb the 3rd steering wheel (14A) is parallel to Z axis；

Five degree of freedom: refer to the active rotation of output shaft around left lower limb the second twin shaft steering wheel (15B)；

Six degree of freedom: refer to the active rotation of output shaft around left lower limb the 3rd twin shaft steering wheel (15D)；

Seven freedom: referring to the active rotation of output shaft around right lower limb the first steering wheel (21B), the output shaft of described right lower limb the first steering wheel (21B) is parallel to Z axis；

Eight degrees of freedom: referring to the active rotation of the output shaft of right lower limb the second steering wheel (22C), the output shaft of described right lower limb the second steering wheel (22C) is perpendicular to Z axis；

Nine-degree of freedom: referring to the active rotation of output shaft around right lower limb the first twin shaft steering wheel (23B), the output shaft of described right lower limb the first twin shaft steering wheel (23B) is perpendicular to Z axis；

Tenth degree of freedom: refer to the active rotation of the output shaft of right lower limb the 3rd steering wheel (24A)；

Tenth single-degree-of-freedom: refer to the active rotation of output shaft around right lower limb the second twin shaft steering wheel (25B)；

Tenth two degrees of freedom: refer to the active rotation of output shaft around right lower limb the 3rd twin shaft steering wheel (25D)；

Thirteen-degree-of-freedom: referring to the active rotation of output shaft around back leg the first steering wheel (31B), the output shaft of described back leg the first steering wheel (31B) is parallel to Z axis；

Tenth four-degree-of-freedom: referring to the active rotation of output shaft around back leg the second steering wheel (32C), the output shaft of described back leg the second steering wheel (32C) is perpendicular to Z axis；

Tenth five degree of freedom: referring to the active rotation of output shaft around back leg the first twin shaft steering wheel (33B), the output shaft of described back leg the first twin shaft steering wheel (33B) is perpendicular to Z axis；

Tenth six degree of freedom: refer to the active rotation of output shaft around back leg the 3rd steering wheel (34A)；

Tenth seven freedom: refer to the active rotation of output shaft around back leg the second twin shaft steering wheel (35B)；

Tenth eight degrees of freedom: refer to the active rotation of output shaft around back leg the 3rd twin shaft steering wheel (35D).