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

Abstract

The utility model relates to a three-legged robot used for soil collection in dangerous areas. When people enter such areas for soil collection work, the environment is likely to cause great harm to the human body, and the existing three-legged robots do not have the ability to enter this area. The function of soil collection work in similar areas, while the manufacturing cost of quadruped and hexapod robots in the prior art is too high, the robot of the utility model includes left legs, right legs, hind legs, trunk body and controller, and the structure of three legs Similarly, the torso body is an equilateral triangle, and the three supporting feet form an angle of 120° with each other. Each leg has hip joints, thigh joints, knee joints, calf joints and claw joints (end joints) five joints. The coordinated movement of five joints ensures the flexible and fast movement of the three-legged robot to complete the soil collection work. The end of the three legs adopts a claw-type structure, which can enable the three-legged robot to enter areas affected by radiation or explosions, and perform soil sampling for subsequent analysis of pollution levels.

Description

Three-legged robot for soil collection in hazardous areas

technical field

The utility model relates to a three-legged robot, in particular to a three-legged robot used for soil collection in dangerous areas. The foot end of the robot adopts a pincer claw structure, which can dig and clamp soil.

Background technique

With the continuous progress of human society and the accelerated development of science and technology, the ability of human beings to use nature is becoming stronger and stronger. However, safety issues in production and life have been neglected for a long time, such as the Fukushima nuclear leak in Japan and the explosion in Tianjin Port. Such incidents will cause subversive damage to the environment in which people live, and especially pose a fatal danger to soil issues that are closely related to people's livelihood. These areas are not suitable for humans to directly enter for soil sampling, which also affects rescuers' immediate work.

The present invention is closely combined with China's economic construction and specific national conditions. my country, especially the second and third tier cities, is densely covered with a large number of potentially dangerous industries such as chemical industry, textiles, and coal mining. However, operating specifications, production environment and safety maintenance have been neglected for a long time, which can easily lead to hazards such as leakage and explosion. And in the prior art, there are not many methods for soil collection under such circumstances, mainly relying on manual unprotected operations, and the continuous stability of the collection work cannot be guaranteed. The three-legged robot used for soil collection can not only replace humans in soil collection in dangerous environments in these areas, but also improve the work efficiency of operations and reduce the high cost of human society.

Utility model content

The utility model aims to solve the problem in the prior art that in areas affected by radiation or explosions, it is impossible to directly send people into these dangerous areas for soil sampling. At the same time, the three-legged robot in the prior art does not have the function of soil collection, nor can it complete the predetermined operations in these dangerous areas. However, in the prior art, the manufacturing cost of quadruped and hexapod robots is too high, and the energy consumption is very large, so they cannot carry out soil collection work for a long time. Thereby a three-legged robot for soil collection in dangerous areas is provided.

The technical scheme adopted by the utility model for solving the above-mentioned technical problems is: the three-legged robot used for soil collection in dangerous areas includes a left leg, a right leg, a hind leg, a trunk body and a controller, and the trunk body is an equilateral triangle frame , the structure of the left leg, right leg and hind leg is the same, the trunk body is set horizontally, the left leg, right leg and hind leg are arranged on the three corners of the trunk body at 120° to each other, the controller is fixedly installed on the trunk body, and The controller is respectively connected to the left leg, right leg, and rear leg. The direction where the torso body is located perpendicular to the X axis is the Y axis, and the direction perpendicular to the plane formed by the X axis and the Y axis is the Z axis.

The utility model has the following beneficial effects: the utility model has a left leg, a right leg, a hind leg, a trunk body and a controller. The three legs form an angle of 120° with each other, and the ends of the three legs adopt a claw-type structure, which can be used for soil collection. Three legs for quick movement and grabbing. Compared with other three-legged robots, it has obvious advantages. It can not only move flexibly and stably, but also has the function of soil collection. Its body center of gravity can change with the position of the leg joints. The coordinated cooperation between the five joints and the trunk body ensures that the three-legged robot can move stably and flexibly. The utility model is beneficial to utilize the characteristics of flexible and rapid movement of the three-legged robot, and can replace human beings to carry out soil collection in dangerous areas, thereby reducing the danger of work and simultaneously reducing the manufacturing cost. The utility model has the advantages of simple structure and reasonable design.

Description of drawings

Fig. 1 is a front view of the overall structure of the utility model, Fig. 2 is a top view of Fig. 1, Fig. 3 is a front view of the left leg 1 of the utility model, Fig. 4 is a top view of Fig. 3, and Fig. 5 is a structure of the hip joint 11 of the left leg Schematic diagrams, Fig. 6 is a schematic structural view of the thigh joint 12 of the left leg, Fig. 7 is a schematic structural view of the knee joint 13 of the left leg, Fig. 8 is a schematic structural view of the calf joint 14 of the left leg, and Fig. 9 is a front view of the claw joint 15 of the left leg , Fig. 10 is the rear view of Fig. 9, Fig. 11 is a schematic diagram of the structure of the small hand of the left leg 15A, Fig. 12 is a schematic diagram of the structure of the big hand of the left leg 15F, Fig. 13 is a schematic diagram of the structure of the hip joint 21 of the right leg, and Fig. 14 is The structure schematic diagram of the right leg thigh joint 22, the structure schematic diagram of the right leg knee joint 23 in Fig. 15, the structure schematic diagram of the right leg calf joint 24 in Fig. 16, the front view of the right leg claw joint 25 in Fig. Rear view, Fig. 19 is a schematic diagram of the structure of the small hand grip 25A of the right leg, Fig. 20 is a schematic diagram of the structure of the big hand grip 25F of the right leg, Fig. 21 is a schematic diagram of the structure of the hip joint 31 of the hind leg, and Fig. 22 is a structure diagram of the thigh joint 32 of the hind leg Schematic diagram, Fig. 23 is a structural schematic diagram of the knee joint 33 of the hind leg, Fig. 24 is a schematic diagram of the mechanism of the calf joint 34 of the hind leg, Fig. 25 is a front view of the claw joint 35 of the hind leg, Fig. 26 is a rear view of Fig. 25, Fig. 27 It is a structural schematic diagram of the hind leg small hand grip 35A, and Fig. 28 is a structural schematic diagram of the hind leg big hand grip 35F.

detailed description

Specific Embodiment 1: This embodiment is described in conjunction with FIG. 1 and FIG. 2. The three-legged robot used for soil collection in dangerous areas described in this embodiment includes a left leg 1, a right leg 2, a rear leg 3, The trunk body 4 and the controller 5, the trunk body 4 is an equilateral triangle frame, the left leg 1, the right leg 2, and the rear leg 3 have the same structure, the trunk body 4 is horizontally arranged, the left leg 1, the right leg 2, and the rear leg 3 are symmetrically arranged on the three vertices of the trunk body 4, the controller 5 is fixedly installed on the trunk body 4, and the controller 5 is respectively connected with the left leg 1, the right leg 2 and the rear leg 4, and the plane where the trunk body 4 is located The direction perpendicular to the X axis is the Y axis, and the direction perpendicular to the plane formed by the X axis and the Y axis is the Z axis.

In this embodiment, the geometric center of the upper end surface of the torso body 4 is the zero point, and the upper end surface of the torso body 4 is an XYZ three-dimensional coordinate system established by a horizontal reference plane.

In this embodiment, the controller 6 is the prior art, the manufacturer is Zhongke Oupeng Company, and the model is Openduino.

Specific Embodiment 2: This embodiment is described in conjunction with Figures 1 and 2. The three-legged robot used for soil collection in dangerous areas described in this embodiment, the torso body 4 includes two equilateral triangular frames (4-1) The arrangement is aligned up and down, the controller 5 is arranged on the triangular frame, and the others are the same as in the first embodiment.

Specific embodiment three: This embodiment is described in conjunction with Fig. 1, Fig. 2-Fig. Left leg thigh joint 12, left leg knee joint 13, left leg calf joint 14 and left leg claw joint 15, left leg hip joint 11 includes left leg first steering gear support bracket 11A, left leg first steering gear 11B and The first metal steering plate 11C of the left leg, the thigh joint 12 of the left leg includes the second steering gear support bracket 12A of the left leg, the long U-shaped bracket 12B of the first steering gear of the left leg, the second steering gear 12C of the left leg and the second metal steering gear of the left leg The rudder plate 12D, the left leg knee joint 13 includes the short U-shaped bracket 13A of the first steering gear of the left leg, the first two-axis steering gear 13B of the left leg, the U-shaped bracket 13C of the second steering gear of the left leg, and two first dedicated steering gears of the left leg. The steering wheel 13D, the left leg calf joint 14 includes the third steering gear 14A of the left leg, the third steering gear support bracket 14B of the left leg and the third metal steering wheel 14C of the left leg, and the claw joint 15 of the left leg includes the small hand of the left leg 15A, Left leg second two-axis steering gear 15B, left leg steering gear oblique bracket 15C, left leg third two-axis steering gear 15D, left leg steering gear fixing frame 15E, left leg big hand grip 15F, left leg small hand grip 15A include two Left leg small hand grip long metal bent plate 15AB, left leg small hand grip long metal bent plate 15AA, left leg small hand grip bolts 15AD and left leg small hand grip nuts 15AC, left leg big hand grip 15F includes two left legs Big hand long metal bent plate 15FB, multiple left leg big hand short metal bent plates 15FA, multiple left leg big hand bolts 15FD and multiple left leg big hand nuts 15FC;

The output shaft of the first steering gear 11B of the left leg is installed in the middle of the upper triangle and the lower triangle frame 4-1 of the body through the first metal steering wheel 11C of the left leg, and the support plate of the first steering gear support bracket 11A of the left leg is installed on the second On the outer wall of a steering gear 11B, a support plate of the second steering gear support bracket 12A of the left leg is fixedly installed on the outer wall of the second steering gear 12C of the left leg, and the output shaft of the second steering gear 12C of the left leg passes through the left leg The second metal steering wheel 12D is installed on a side wall of the long U-shaped bracket 12B of the first steering gear of the left leg, and the other support plate of the second steering gear support bracket 12A of the left leg and the long U-shaped bracket 12B of the first steering gear The other side wall is connected, the bottom plate of the long U-shaped bracket 12B of the first steering gear of the left leg is fixedly connected with the bottom plate of the U-shaped bracket 13C of the second steering gear of the left leg, and the base of the first two-axis steering gear 13B of the left leg is fixedly installed on the On the two side walls of the short U-shaped bracket 13A of the first steering gear of the left leg, each output shaft of the first two-axis steering gear 13B of the left leg passes through a first dedicated steering wheel 13D of the left leg and connects with the second steering gear of the left leg respectively. One side wall of the U-shaped bracket 13C of the left leg is rotationally connected, the bottom plate of the third steering gear support bracket 14B of the left leg is fixedly connected with the short U-shaped bracket 13A of the first steering gear of the left leg, and the third steering gear support bracket 14B of the left leg is fixedly installed On the outer wall of the third steering gear 14A of the left leg, the third metal steering wheel 14C of the left leg is set on the output shaft of the third steering gear 14A of the left leg, and one end of the small hand of each left leg grasps the long metal bending plate 15AB. Fixing plate, a plurality of left leg small hands grasp short metal curved plates 15AA arranged side by side, two left leg small hands grasp long metal curved plates 15AB respectively arranged on both sides of a plurality of left leg small hands grasp short metal curved plates 15AA, two left legs The small hand grasps the long metal curved plate 15AB and the short metal bent plate 15AA of the left leg small hand is fixedly connected by a plurality of left leg small hand grasp bolts 15AD, and any adjacent two left leg small hand grasps the long metal curved plate 15AB and the left leg small hand The left leg small hand grip bolt 15AD between the short metal bent plates 15AA is provided with a left leg small hand grip nut 15AC, two left leg small hand grips long metal bent plates 15AB and a plurality of left leg small hand grasped short metal bent plates 15AA The direction of the curvature is the same, two long metal curved plates 15FB are arranged side by side, and a plurality of short metal curved plates 15FA are arranged side by side on the two sides of the long metal curved plates 15FB respectively. The short metal bent plate 15FA of the left leg big hand and two long metal bent plates 15FB of the left big hand are fixedly connected by multiple left leg big hand bolts 15FC, and any adjacent left leg big hand grabs the short metal bent plate 15FA and the left leg big hand A left leg big hand grip nut 15FC is provided on the left leg big hand grip bolt 15FD between the long metal bent plates 15FB, a plurality of left leg big hand short metal bent plates 15FA and two left leg big hand long metal bent plates 15FB The direction of curvature is the same, the output end of the output shaft of the third steering gear 14A of the left leg is fixedly installed on the oblique bracket 15C of the steering gear of the left leg, the second two-axis steering gear 15B of the left leg and the third two-axis steering gear 15D of the left leg are vertical Set in the left leg servo fixing frame 15E, and the left leg The output shafts of the second two-axis steering gear 15B and the third two-axis steering gear 15D of the left leg are arranged alternately, and the output shaft of the second two-axis steering gear 15B of the left leg is located above the output shaft of the third two-axis steering gear 15D of the left front leg , the output end of each output shaft of the second two-axis steering gear 15B of the left leg is fixedly connected with a slant plate of the oblique bracket 15C of the left leg steering gear respectively, and the output of each output shaft of the third two-axis steering gear 15D of the left leg Both ends are fixedly connected with the fixed plate of the long metal bent plate 15AB held by the left leg small hand, and the tops of the two left leg big hands grasped the long metal bent plate 15FB are fixedly installed on the two output shafts of the second steering gear 15B of the left leg, and the left The curvature direction of the small leg grip 15A is opposite to the curvature direction of the left leg big grip 15F, and the others are the same as in the second embodiment.

In this embodiment, the first steering gear 11B of the left leg is the prior art, the manufacturer is Zhongke Oupeng Company, and the model is MG996R.

In this embodiment, the second steering gear 12C of the left leg is the prior art, and the manufacturer is Zhongke Oupeng Company, and the model is MG996R.

In this embodiment, the first two-axis steering gear 13B of the left leg is the prior art, and the manufacturer is Zhongke Oupeng Company, and the model is LD-2015.

In this embodiment, the third steering gear 14A of the left leg is the prior art, and the manufacturer is Zhongke Oupeng Company, and the model is MG996R.

In this embodiment, the second two-axis steering gear 15B of the left leg is the prior art, and the manufacturer is Zhongke Oupeng Company, and the model is LD-2015.

In this embodiment, the third two-axis steering gear 15D of the left leg is the prior art, and the manufacturer is Zhongke Oupeng Company, and the model is LD-2015.

Specific Embodiment 4: This embodiment is described in conjunction with Fig. 1, Fig. 2, Fig. 13-Fig. Head joint 21, right leg thigh joint 22, right leg knee joint 23, right leg calf joint 24 and right leg claw joint 25, right leg hip joint 21 comprises the first steering gear support bracket 21A of the right leg, the first right leg The steering gear 21B and the first metal steering wheel 21C of the right leg, the right leg thigh joint 22 includes the second steering gear support bracket 22A of the right leg, the long U-shaped bracket 22B of the first steering gear of the right leg, the second steering gear 22C of the right leg and the right The second metal rudder plate 22D of the leg, the right leg knee joint 23 includes the short U-shaped bracket 23A of the first steering gear of the right leg, the first two-axis steering gear 23B of the right leg, the U-shaped bracket 23C of the second steering gear of the right leg and two right The first special rudder plate 23D of the leg, the right leg calf joint 24 includes the third steering gear 24A of the right leg, the third steering gear support bracket 24B of the right leg and the third metal steering wheel 24C of the right leg, and the claw joint 25 of the right leg includes the right leg Small hand grab 25A, right leg second dual-axis servo 25B, right leg servo oblique bracket 25C, right leg third dual-axis servo 25D, right leg servo fixed frame 25E, right leg big hand grab 25F, right leg small hand grab 25A includes two right leg small hand grip long metal bent plates 25AB, multiple right leg small hand grip short metal bent plates 25AA, multiple right leg small hand grip bolts 25AD and multiple right leg small hand grip nuts 25AC, right leg large hand grip 25F includes Two right leg big hand long metal bent plates 25FB, multiple right leg big hand short metal bent plates 25FA, multiple right leg big hand bolts 25FD and multiple right leg big hand nuts 25FC;

The output shaft of the first steering gear 21B of the right leg is installed in the middle of the upper triangle and the lower triangle frame 4-1 of the body through the first metal steering wheel 21C of the right leg, and the support plate of the first steering gear support bracket 21A of the right leg is installed on the second triangle frame of the right leg. On the outer wall of a steering gear 21B, a support plate of the second steering gear support bracket 22A of the right leg is fixedly installed on the outer wall of the second steering gear 22C of the left leg, and the output shaft of the second steering gear 22C of the right leg passes through the right leg The second metal steering wheel 22D is installed on a side wall of the long U-shaped bracket 22B of the first steering gear of the right leg, and the other support plate of the second steering gear support bracket 22A of the right leg and the long U-shaped bracket 22B of the first steering gear The other side wall is connected, the bottom plate of the long U-shaped bracket 22B of the first steering gear of the right leg is fixedly connected with the bottom plate of the U-shaped bracket 23C of the second steering gear of the right leg, and the base of the first two-axis steering gear 23B of the right leg is fixedly installed on the On the two side walls of the short U-shaped bracket 23A of the first steering gear of the right leg, each output shaft of the first dual-axis steering gear 23B of the right leg passes through a first dedicated steering wheel 23D of the right leg and connects with the second steering gear of the right leg respectively. A side wall of the U-shaped bracket 23C of the right leg is rotationally connected, the bottom plate of the long U-shaped bracket 22B of the first steering gear of the right leg is fixedly connected with the bottom plate of the U-shaped bracket 23C of the second steering gear of the right leg, and the support bracket 24B of the third steering gear of the right leg is The bottom plate of the right leg is fixedly connected with the short U-shaped bracket 23A of the first steering gear of the right leg, the support bracket 24B of the third steering gear of the right leg is fixedly installed on the outer wall of the third steering gear 24A of the right leg, and the third metal steering wheel 24C of the right leg is set On the output shaft of the third steering gear 24A of the right leg, one end of the long metal bent plate 25AB of each right leg small hand is processed with a fixed plate, and a plurality of right leg small hands grabs the short metal bent plate 25AA and is arranged side by side. The long metal curved plates 25AB are respectively arranged on the two sides of the short metal curved plates 25AA with the small hands of the right legs. Right leg small hand grip bolt 25AD is fixedly connected, and the right leg small hand grip bolt 25AD between any adjacent two right leg small hand long metal curved plates 25AB and right front leg small hand short metal curved plate 25AA is provided with a right leg small hand Catch the nut 25AC, two right leg small hands grasp the long metal curved plates 25AB and multiple right leg small hands grasp the short metal curved plates 25AA in the same direction of curvature, two right leg big hands grasp the long metal curved plates 25FB arranged side by side, multiple right legs The big short metal curved plates 25FA are arranged side by side respectively on the two sides of the two right leg big hand long metal curved plates 25FB, and a plurality of right leg big hand short metal curved plates 25FA and two right leg big hand long metal curved plates 25FB pass through A plurality of right leg big hand grasping bolts 25FC are fixedly connected, and any adjacent right leg big hand grasping short metal bent plate 25FA and right leg big hand grasping long metal bent plate 25FB is provided with a right leg big hand on the right leg big hand grasping bolt 25FD between Catch the nut 25FC, the bending direction of multiple short metal bent plates 25FA and two long metal bent plates 25FB held by the right leg big hand are the same, and the output end of the output shaft of the third steering gear 24A of the right leg is fixedly installed on the right leg On the steering gear inclined bracket 25C, the right leg is second The two-axis steering gear 25B and the third two-axis steering gear 25D of the right leg are vertically arranged in the fixing frame 25E of the right leg steering gear, and the output of the second two-axis steering gear 25B of the right leg and the third two-axis steering gear 25D of the right leg Shafts are staggered, the output shaft of the second two-axis steering gear 25B of the right leg is located above the output shaft of the third two-axis steering gear 25D of the right leg, and the output ends of each output shaft of the second two-axis steering gear 25B of the right leg are respectively It is fixedly connected with a slant plate of the oblique bracket 25C of the right leg steering gear, and the output end of each output shaft of the third biaxial steering gear 25D of the right leg is fixedly connected with the fixed plate of the long metal bent plate 25AB of the right leg small hand. The top of a right leg big hand grabs the long metal bent plate 25FB and is fixedly installed on the two output shafts of the second steering gear 25B of the right leg, and the curvature direction of the right leg small hand grabs 25A is opposite to the camber direction of the right leg big hand grab 25F, Others are the same as in the second embodiment.

In this embodiment, the first steering gear 21B of the right leg is the prior art, the manufacturer is Zhongke Oupeng Company, and the model is MG996R.

In this embodiment, the second steering gear 22C of the right leg is the prior art, the manufacturer is Zhongke Oupeng Company, and the model is MG996R.

In this embodiment, the first two-axis steering gear 23B of the right leg is the prior art, and the manufacturer is Zhongke Oupeng Company, and the model is LD-2015.

In this embodiment, the third steering gear 24A of the right leg is the prior art, and the manufacturer is Zhongke Oupeng Company, and the model is MG996R.

In this embodiment, the second two-axis steering gear 25B of the right leg is the prior art, and the manufacturer is Zhongke Oupeng Company, and the model is LD-2015.

In this embodiment, the third two-axis steering gear 25D of the right leg is the prior art, and the manufacturer is Zhongke Oupeng Company, and the model is LD-2015.

Specific embodiment five: This embodiment is described in conjunction with Fig. 1, Fig. 2, Fig. 21-Fig. Hind leg joint 31, hind leg thigh joint 32, hind leg knee joint 33, hind leg calf joint 34 and hind leg pincer joint 35, rear leg hip joint 31 includes the first steering gear support bracket 31A of the rear leg, the first rear leg The steering gear 31B and the first metal steering wheel 31C of the rear leg, the rear front leg thigh joint 32 includes the second steering gear support bracket 32A of the rear leg, the long U-shaped bracket 32B of the first steering gear of the rear leg, the second steering gear 32C of the rear leg and The second metal rudder plate 32D of the rear leg, the knee joint 33 of the rear leg includes the short U-shaped bracket 33A of the first steering gear of the rear leg, the first biaxial steering gear 33B of the rear leg, the U-shaped bracket 33C of the second steering gear of the rear leg and two The first dedicated rudder plate 33D of the rear leg, the calf joint 34 of the rear leg includes the third steering gear 34A of the rear leg, the third steering gear support bracket 34B of the rear leg and the third metal steering wheel 34C of the rear leg, and the claw joint 35 of the rear leg includes the rear leg Small hand grip 35A for the legs, 35B for the second dual-axis steering gear for the rear legs, 35C for the oblique bracket of the steering gear for the rear legs, 35D for the third dual-axis servo for the rear legs, 35E for the fixed frame of the servos for the rear legs, 35F for the big hand grip of the rear legs, and 35F for the small hands of the rear legs Grab 35A includes two hind leg small hand grips long metal bent plate 35AB, multiple hind leg small hand grip short metal bent plates 35AA, multiple hind leg small hand grip bolts 35AD and multiple hind leg small hand grip nuts 35AC, hind leg large hand grip 35F Including two hind leg big hand grip long metal bent plates 35FB, multiple hind leg big hand grip short metal bent plates 35FA, multiple hind leg big hand grip bolts 35FD and multiple hind leg big hand grip nuts 35FC;

The output shaft of the first steering gear 31B of the rear leg is installed in the middle of the upper triangle and the lower triangle frame 4-1 of the body through the first metal steering wheel 31C of the rear leg, and the support plate of the first steering gear support bracket 31A of the rear leg is installed on the second rear leg. On the outer wall of a steering gear 31B, a support plate of the second steering gear support bracket 32A of the rear leg is fixedly installed on the outer wall of the second steering gear 32C of the rear leg, and the output shaft of the second steering gear 32C of the rear leg passes through the rear leg The second metal steering wheel 32D is installed on a side wall of the long U-shaped bracket 32B of the first steering gear of the rear leg, another support plate of the second steering gear support bracket 32A of the rear leg and the long U-shaped bracket 32B of the first steering gear The other side wall is connected, the bottom plate of the long U-shaped bracket 32B of the first steering gear of the rear leg is fixedly connected with the bottom plate of the U-shaped bracket 13C of the second steering gear of the rear leg, and the bases of the first two-axis steering gear 33B of the rear leg are fixedly installed on the On the two side walls of the short U-shaped bracket 33A of the first steering gear of the rear legs, each output shaft of the first dual-axis steering gear 33B of the rear legs passes through a first dedicated steering wheel 33D of the rear legs and connects with the second steering wheel of the rear legs respectively. A side wall of the U-shaped bracket 33C of the rear leg is connected by rotation, the bottom plate of the long U-shaped bracket 32B of the first steering gear of the rear leg is fixedly connected with the bottom plate of the U-shaped bracket 33C of the second steering gear of the rear leg, and the support bracket 34B of the third steering gear of the rear leg The bottom plate of the rear leg is fixedly connected with the bottom plate of the short U-shaped bracket 33A of the first steering gear of the rear leg, the support bracket 34B of the third steering gear of the rear leg is fixedly installed on the outer wall of the third steering gear 34A of the rear leg, and the third metal steering wheel of the rear leg 34C is set on the output shaft of the third steering gear 34A of the hind leg, and one end of each hind leg small hand grasping long metal curved plate 35AB is processed with a fixed plate, and a plurality of hind leg small hand grasping short metal bent plates 35AA are arranged side by side, and the two rear leg The long metal bent plates 35AB for the small hands of the legs are respectively arranged on both sides of the short metal bent plates 35AA for the small hands of the two hind legs. A plurality of hind leg small hand grasping bolts 35AD are fixedly connected, and any two adjacent hind leg small hand grasp long metal bent plates 35AB and hind leg small hand grasp short metal bent plates 35AA are provided with a rear leg small hand grasp bolt 35AD between them. The small hand of the leg grasps the nut 35AC, the bending direction of the long metal bent plate 35AB and the short metal bent plate 35AA of the small hands of the two hind legs are the same, and the long metal bent plate 35FB of the two big hands of the hind leg is arranged side by side, and multiple The short metal curved plates 35FA for the big hands of the hind legs are respectively arranged side by side on the two sides of the long metal curved plates 35FB for the big hands of the hind legs, a plurality of short metal curved plates 35FA for the big hands of the hind legs and two long metal curved plates for the big hands of the hind legs 35FB is fixedly connected by a plurality of hind leg big hand grasp bolts 35FC, and any adjacent hind leg big hand grasp short metal bent plate 35FA and hind leg big hand grasp long metal bent plate 35FB are provided with a rear leg big hand grasp bolt 35FD between Leg big hand grasps nut 35FC, the curvature direction of a plurality of hind leg big hands grasping short metal bent plates 35FA and two hind leg big hands grasping long metal bent plates 35FB is the same, and the output end of the output shaft of the third steering gear 34A of rear legs is fixedly installed on On the oblique bracket 35C of the rear leg servo, the rear leg The second two-axis steering gear 35B and the third two-axis steering gear 35D of the rear leg are vertically arranged in the fixed frame 35E of the rear leg steering gear, and the second two-axis steering gear 35B of the rear leg and the third two-axis steering gear 35D of the rear leg The output shafts of the rear legs are staggered, the output shaft of the second two-axis steering gear 35B of the rear legs is located above the output shaft of the third two-axis steering gear 35D of the rear legs, and the output of each output shaft of the second two-axis steering gear 35B of the rear legs The ends are respectively fixedly connected with a slant plate of the rear leg steering gear slant bracket 35C, and the output ends of each output shaft of the rear leg third biaxial steering gear 35D are fixedly connected with the fixed plate of the rear leg small hand grasping long metal curved plate 35AB , the tops of the two left big hand grips long metal curved plates 35FB are fixedly installed on the two output shafts of the second steering gear 35B of the left leg, and the curvature direction of the rear leg small hand grip 35A is opposite to the curvature direction of the rear leg big hand grip 35F The settings are the same as those in the second embodiment.

In this embodiment, the first steering gear 31B of the rear leg is the prior art, and the manufacturer is Zhongke Oupeng Company, and the model is MG996R.

In this embodiment, the second steering gear 32C of the rear leg is the prior art, and the manufacturer is Zhongke Oupeng Company, and the model is MG996R.

In this embodiment, the first two-axis steering gear 33B of the rear leg is the prior art, and the manufacturer is Zhongke Oupeng Company, and the model is LD-2015.

In this embodiment, the third rear steering gear 34A is the prior art, and the manufacturer is Zhongke Oupeng Company, and the model is MG996R.

In this embodiment, the second two-axis steering gear 35B of the rear leg is the prior art, and the manufacturer is Zhongke Oupeng Company, and the model is LD-2015.

In this embodiment, the third dual-axis steering gear 35D of the rear leg is the prior art, and the manufacturer is Zhongke Oupeng Company, and the model is LD-2015.

Specific Embodiment Six: This embodiment is described in conjunction with Figures 1-28. The three-legged robot used for soil collection in dangerous areas described in this embodiment, the robot is driven by the active rotation of the steering gear and has 18 degrees of freedom ;

1. The first degree of freedom: refers to the active rotation around the output shaft of the first steering gear 11B of the left leg. The output shaft of the first steering gear 11B of the left leg is parallel to the Z axis to realize the movement of the hip joint 11 of the left leg. Perform a back and forth swing of the left leg 1;

2. The second degree of freedom: refers to the active rotation around the output shaft of the second steering gear 12C of the left leg. The output shaft of the second steering gear 12C of the left leg is perpendicular to the Z axis to realize the movement of the thigh joint 12 of the left leg. Perform the raising and lowering of the thigh joint 12 of the left leg;

3. The third degree of freedom: refers to the active rotation around the output shaft of the first two-axis steering gear 13B of the left leg. The output shaft of the first two-axis steering gear 13B of the left leg is perpendicular to the Z axis to realize the knee joint of the left leg The movement of 13 assists the thigh joint 12 of the left leg to complete the leg-stepping action, and is used to adjust the leg-stepping range;

4. The fourth degree of freedom: refers to the active rotation around the output shaft of the third steering gear 14A of the left leg. The output shaft of the third steering gear 14A of the left leg is parallel to the Z axis to realize the rotation of the claw joint 15 of the left leg , carry out the special work of soil collection;

5 The fifth degree of freedom: refers to the active rotation around the output shaft of the second two-axis steering gear 15B of the left leg to realize the opening and closing of the big hand grasp 15F of the left leg, and perform special soil excavation and clamping work;

6 The sixth degree of freedom: refers to the active rotation around the output shaft of the third two-axis steering gear 15D of the left leg, to realize the opening and closing of the big hand grasp 15A of the left leg, and to perform special work of soil excavation and clamping;

7. The seventh degree of freedom: refers to the active rotation around the output shaft of the first steering gear 21B of the right leg. The output shaft of the first steering gear 21B of the right leg is parallel to the Z axis to realize the movement of the hip joint 21 of the right leg. Perform a back and forth swing of the right leg 2;

8. The eighth degree of freedom: refers to the active rotation of the output shaft of the second steering gear 22C of the right leg. The output shaft of the second steering gear 22C of the right leg is perpendicular to the Z axis to realize the movement of the thigh joint 22 of the right leg. Lifting and lowering of the thigh joint 22 of the right leg;

9. Ninth degree of freedom: refers to the active rotation around the output shaft of the first two-axis steering gear 23B of the right leg. The output shaft of the first two-axis steering gear 23B of the right leg is perpendicular to the Z axis to realize the knee joint of the right leg The movement of 23 assists the thigh joint 22 of the right leg to complete the leg-stepping action, and is used to adjust the leg-stepping range;

10 The tenth degree of freedom: refers to the active rotation of the output shaft of the third steering gear 24A of the right leg, to realize the rotation of the claw joint 25 of the right leg, and to carry out the special work of soil collection;

11 The eleventh degree of freedom: refers to the active rotation around the output shaft of the second two-axis steering gear 25B of the left leg, to realize the opening and closing of the big hand grip 25F of the left leg, and to perform special soil excavation and clamping work;

12 The twelfth degree of freedom: refers to the active rotation around the output shaft of the third two-axis steering gear 25D of the left leg to realize the opening and closing of the big hand grasp 25A of the left leg, and perform special soil excavation and clamping work;

13 The thirteenth degree of freedom: refers to the active rotation around the output shaft of the first rear leg steering gear 31B, and the output shaft of the first rear leg steering gear 31B is parallel to the Z axis to realize the movement of the rear leg hip joint 31 , performing the back and forth swing of the right leg 3;

14 The fourteenth degree of freedom: refers to the active rotation around the output shaft of the second steering gear 32C of the rear leg, the output shaft of the second steering gear 32C of the rear leg is perpendicular to the Z axis, so as to realize the movement of the thigh joint 32 of the rear leg , performing lifting and lowering of the thigh joint 32 of the rear leg;

15. The fifteenth degree of freedom: refers to the active rotation around the output shaft of the first two-axis steering gear 33B of the rear leg. The output shaft of the first two-axis steering gear 33B of the rear leg is perpendicular to the Z axis, so as to realize the knee joint of the rear leg. The movement of the joint 33 assists the thigh joint 32 of the hind leg to complete the movement of the leg, and is used to adjust the range of the leg;

16 The sixteenth degree of freedom: refers to the active rotation around the output shaft of the third steering gear 34A of the rear leg, to realize the rotation of the claw joint 35 of the rear leg, and to carry out the special work of soil collection;

17 The seventeenth degree of freedom: refers to the active rotation around the output shaft of the second two-axis steering gear 35B of the rear leg, to realize the opening and closing of the big hand grip 35F of the rear leg, and to perform special soil excavation and clamping work;

18 The eighteenth degree of freedom: refers to the active rotation of the output shaft of the third dual-axis steering gear 35D of the rear leg to realize the opening and closing of the finger support joint 35A of the rear leg, and perform special work of soil excavation and gripping; other and specific Embodiments 1, 2, 3, 4, 5, or 6 are the same.

working principle

The operating principle of the three legs of the left leg 1, the right leg 2 and the rear leg 3 of the utility model is the same, when the left leg 1 is lifted, the first steering gear 11B of the left leg of the left front leg hip joint 11 is controlled by the controller 5 Rotating forward, the first steering gear 11B of the left leg is transmitted by the first steering gear support bracket 11A, driving the thigh joint 12 to rotate forward at the same time. The controller 5 controls the steering gear 12C to lift the knee joint 13 while rotating forward. The controller 5 controls the first two-axis servo 13B of the left front leg to lift the calf joint 14 of the left leg and the claw joint 15 of the left leg.

The process of completing a cycle gait is as follows: the first steering gear 11B of the left leg of the left leg hip joint 11 is controlled by the controller 5 to rotate forward, and the first steering gear 11B of the left leg is transmitted through the first steering gear support bracket 11A. Drive the thigh joint 12 to rotate forward simultaneously. The controller 5 controls the steering gear 12C to lift the knee joint 13 while rotating forward. The controller 5 controls the first two-axis steering gear 13B of the front leg to lift the calf joint 14 of the left leg and the claw joint 15 of the left leg. Simultaneously, the rear leg 3 controls the first steering gear 31B of the rear leg hip joint 31 to rotate to the right through the controller 5, and the first steering gear 31B of the hind leg is passed through the first steering gear support bracket 31A to drive the thigh joint 32 At the same time rotate to the right. The controller 5 controls the steering gear 32C to lift the knee joint 33 while rotating to the right. The controller 5 controls the first biaxial steering gear 33B of the rear leg to lift the calf joint 34 of the rear leg and the claw joint 35 of the rear leg. At the same time, the controller 5 controls the first steering gear 21B of the right leg hip joint 21 to rotate forward, and the first steering gear 21B of the right leg is transmitted through the first steering gear support bracket 21A to drive the thigh joint 22 forward simultaneously. rotate. The controller 5 controls the steering gear 22C to lift the knee joint 23 while rotating forward. The controller 5 controls the first two-axis servo 23B of the right leg to lift the calf joint 24 of the left leg and the claw joint 25 of the left leg. When the right leg touches the ground, the three-legged robot completes a cycle of walking. Running according to this process cycle, the three-legged robot can realize continuous walking.

The soil collection process is completed as follows: through the controller 5, the first dual-axis steering gear 33B of the rear leg is controlled to rotate downward, and the knee joint 13 is dropped, and at the same time, the controller 5 is used to control the second dual-axis steering gear 35B of the rear leg and the third dual-axis steering gear of the rear leg. The shaft steering gear 35D rotates outward to complete the soil excavation process, and the second dual-axis steering gear 35B of the rear leg and the third dual-axis steering gear 35D of the rear leg are controlled to rotate inward through the controller 5 to complete the soil clamping process. According to this process, the three-legged robot can realize soil collection.

Claims (6)

1. A three-legged robot for soil collection in dangerous areas, characterized in that: the robot includes a left leg (1), a right leg (2), a rear leg (3), a trunk body (4) and a controller ( 5), the torso body (4) is an equilateral triangle frame, the structure of the left leg (1), right leg (2) and hind leg (3) is the same, the torso body (4) is set horizontally, left leg 1, right leg 2 , and rear legs 3 are respectively symmetrically arranged on three corners of the trunk body 4, the controller 5 is fixedly installed on the trunk body 4, and the controller 5 is connected with the left leg 1, the right leg 2 and the rear leg 3 respectively, and the trunk The direction perpendicular to the X-axis on the plane where the body 4 is located is the Y-axis, and the direction perpendicular to the plane formed by the X-axis and the Y-axis is the Z-axis. 2. A three-legged robot for soil collection in dangerous areas according to claim 1, characterized in that: the torso body (4) includes two equilateral triangular frames (4-1) aligned up and down, and the controller (5) Set on the upper triangular frame (4-1). 3. A three-legged robot for soil collection in dangerous areas according to claim 2, characterized in that: the left leg (1) includes a left leg hip joint (11), a left leg thigh joint (12), Left leg knee joint (13), left leg calf joint (14) and left leg claw joint (15), left leg hip joint (11) including the left leg first servo support bracket (11A), left leg first The steering gear (11B) and the first metal steering wheel of the left leg (11C), the thigh joint of the left leg (12) includes the support bracket of the second steering gear of the left leg (12A), the long U-shaped bracket of the first steering gear of the left leg (12B) , the second steering gear of the left leg (12C), and the second metal steering wheel of the left leg (12D), the knee joint of the left leg (13) includes the short U-shaped bracket (13A) of the first steering gear of the left leg, and the first pair of steering gear of the left leg Axis steering gear (13B), U-shaped bracket for the second steering gear of the left leg (13C) and two dedicated steering wheels for the first left leg (13D), the calf joint of the left leg (14) includes the third steering gear of the left leg (14A) , the third steering gear support bracket of the left leg (14B) and the third metal steering wheel of the left leg (14C), the claw joint of the left leg (15) includes the small hand of the left leg (15A), the second two-axis steering gear of the left leg ( 15B), left leg servo slant bracket (15C), left leg third dual-axis servo (15D), left leg servo fixing frame (15E), left leg big hand grip (15F), left leg small hand grip (15A) Includes two left hand grip long metal bends (15AB), multiple left hand grip short metal bends (15AA), left leg grip bolts (15AD) and left leg grip nuts (15AC) ,Left Leg Grip (15F) includes two Left Leg Grip Long Metal Bending Plates (15FB), Multiple Left Leg Grip Short Metal Bending Plates (15FA), Multiple Left Leg Grip Bolts (15FD) and Multiple Left Leg Big Hand Nut (15FC); The output shaft of the first steering gear of the left leg (11B) is installed between the upper triangle frame and the lower triangle frame (4-1) of the body through the first metal steering wheel of the left leg (11C), and the first steering gear support bracket of the left leg (11A) The support plate is installed on the outer wall of the first steering gear (11B) of the left front leg, and a support plate of the second steering gear support bracket (12A) of the left leg is fixedly installed on the outer wall of the second steering gear (12C) of the left leg , the output shaft of the second steering gear of the left leg (12C) is installed on a side wall of the long U-shaped bracket (12B) of the first steering gear of the left leg through the second metal steering wheel of the left leg (12D), and the second steering gear of the left leg The other support plate of the machine supporting bracket (12A) is connected with the other side wall of the long U-shaped bracket (12B) of the first steering gear, and the bottom plate of the long U-shaped bracket (12B) of the first steering gear of the left leg is connected with the second The bottom plate of the U-shaped bracket of the steering gear (13C) is fixedly connected, and the base of the first two-axis steering gear of the left leg (13B) is respectively fixedly installed on the two side walls of the short U-shaped bracket (13A) of the first steering gear of the left leg. Each output shaft of the first two-axis steering gear of the left leg (13B) is rotationally connected with a side wall of the U-shaped bracket (13C) of the second steering gear of the left leg through a first dedicated steering wheel of the left leg (13D). The bottom plate of the long U-shaped bracket (12B) of the first steering gear of the left leg is fixedly connected with the bottom plate of the U-shaped bracket (13C) of the second steering gear of the left leg, and the bottom plate of the support bracket (14B) of the third steering gear of the left leg is connected with the The short U-shaped bracket (13A) of the first steering gear is fixedly connected, the third steering gear support bracket (14B) of the left leg is fixedly installed on the outer wall of the third steering gear (14A) of the left leg, and the third metal steering wheel (14C) of the left leg ) set on the output shaft of the third steering gear (14A) of the left leg, each end of the small left-leg long metal bending plate (15AB) is processed with a fixed plate, and multiple left-leg small hand grasping short metal bending plates (15AA) Set side by side, two long metal curved plates (15AB) for small left legs are respectively set on both sides of multiple short metal curved plates (15AA) for small left hands, two long metal curved plates (15AB) for small left hands and Multiple short left-leg short-hand grip metal plates (15AA) are fixedly connected by multiple left-leg small-hand grip bolts (15AD), and any two adjacent left-leg small hand-grasp long metal bent plates (15AB) and left-leg small hand short metal plates Left leg gripper bolt (15AD) between metal bends (15AA) with a left leg gripper nut (15AC), two left leg gripper long metal bends (15AB) and left leg grippers The short metal curved plates (15AA) have the same curvature direction, and the two left-legged big hands hold the long metal curved plates (15FB) side by side. On both sides of the long metal bent plate (15FB), multiple left leg big hand grab short metal bent plates (15FA) and two left leg big hand long metal bent plates (15FB) through multiple left leg big hand grab bolts (15FD) Fixed connection, and any adjacent left leg big hand grasp short metal bent plate (15FA) and left leg big hand long metal bent plate (15FB) between left leg big hand grasp bolts (15F D) There is a left leg big hand grip nut (15FC), multiple left leg big hand short metal bent plates (15FA) and two left leg big hand long metal bent plates (15FB) with the same curvature direction, the left leg No. The output end of the output shaft of the third steering gear (14A) is fixedly installed on the oblique bracket of the left leg steering gear (15C). Set directly in the left leg servo fixing frame (15E), and the output shafts of the left leg second two-axis servo (15B) and the left leg third two-axis servo (15D) are set alternately, and the left leg second two-axis The output shaft of the steering gear (15B) is located above the output shaft of the third dual-axis steering gear (15D) of the left leg, and the output ends of each output shaft of the second dual-axis steering gear (15B) of the left leg are respectively connected to the left leg rudder A slant plate of the machine slant bracket (15C) is fixedly connected, and the output end of each output shaft of the third two-axis servo (15D) of the left leg is fixedly connected with the fixed plate of the long metal bent plate (15AB) of the left leg small hand , the tops of the two left big hand grips long metal bent plates (15FB) are fixedly installed on the two output shafts of the left leg second steering gear 15B, and the curvature direction of the left leg small hand grip (15A) is the same as the left leg big hand grip ( 15F) The camber direction is relatively set. 4. A three-legged robot for soil collection in dangerous areas according to claim 2, characterized in that: the right leg (2) includes a right leg hip joint (21), a right front thigh joint (22), a right Leg knee joint (23), right leg calf joint (24) and right leg claw joint (25), right leg hip joint (21) including right leg first steering gear support bracket (21A), right leg first rudder motor (21B) and the first metal rudder plate (21C) of the right leg, the thigh joint of the right leg (22) includes the support bracket (22A) of the second steering gear of the right leg, the long U-shaped bracket (22B) of the first steering gear of the right leg, The second steering gear of the right leg (22C) and the second metal steering wheel of the right leg (22D), the knee joint of the right leg (23) includes the short U-shaped bracket (23A) of the first steering gear of the right leg, the first two-axis rudder of the right leg motor (23B), the U-shaped bracket of the second steering gear of the right leg (23C) and two dedicated steering wheels of the first right leg (23D), the calf joint of the right leg (24) includes the third steering gear of the front leg (24A), the right Leg third servo support bracket (24B) and right leg third metal steering wheel (24C), right leg claw joint (25) including right leg small hand grip (25A), right leg second dual-axis servo (25B) , the oblique bracket of the right leg servo (25C), the third double-axis servo of the right leg (25D), the fixed frame of the right leg servo (25E), the big hand of the right leg (25F), and the small hand of the right leg (25A) include two 1 right hand grip long metal bent plate (25AB), multiple right hand grip short metal bent plates (25AA), multiple right leg grip bolts (25AD) and multiple right leg grip nuts (25AC), right Leg Grip (25F) includes two Right Leg Grip Long Metal Bending Plates (25FB), Multiple Right Leg Grip Short Metal Bending Plates (25FA), Multiple Right Leg Grip Bolts (25FD), and Multiple Right Leg Grips Large finger nuts (25FC); The output shaft of the first steering gear of the right leg (21B) is installed between the upper triangle and the lower triangle frame (4-1) of the body through the first metal steering wheel of the right leg (21C), and the support bracket of the first steering gear of the right leg (21A) The support plate is installed on the outer wall of the first steering gear (21B) of the right leg, and a support plate of the second steering gear support bracket (22A) of the right front leg is fixedly installed on the outer wall of the second steering gear (22C) of the right leg , the output shaft of the second steering gear of the right leg (22C) is installed on a side wall of the long U-shaped bracket (22B) of the first steering gear of the right leg through the second metal steering wheel of the right leg (22D), and the second steering gear of the right leg The other support plate of the machine support bracket (22A) is connected with the other side wall of the long U-shaped bracket (22B) of the first steering gear, and the bottom plate of the long U-shaped bracket (22B) of the first steering gear of the right leg is connected with the second The bottom plate of the U-shaped bracket (23C) of the steering gear is fixedly connected, and the base of the first two-axis steering gear (23B) of the right leg is respectively fixed and installed on the two side walls of the short U-shaped bracket (23A) of the first steering gear of the right leg. Each output shaft of the first two-axis steering gear of the right leg (23B) is respectively connected to a side wall of the U-shaped bracket (23C) of the second steering gear of the right leg through a dedicated first steering wheel of the right leg (23D), The bottom plate of the long U-shaped bracket (22B) of the first steering gear of the right leg is fixedly connected with the bottom plate of the U-shaped bracket (23C) of the second steering gear of the right leg, and the bottom plate of the support bracket (24B) of the third steering gear of the right leg is connected with the bottom plate of the U-shaped bracket (23C) of the second steering gear of the right leg A short U-shaped bracket for the steering gear (23A) is fixedly connected, the support bracket for the third steering gear of the right leg (24B) is fixedly installed on the outer wall of the third steering gear of the right leg (24A), and the third metal rudder plate of the right leg (24C ) is set on the output shaft of the third steering gear (24A) of the right leg, and one end of the long metal bent plate (25AB) of each right leg is processed with a fixed plate, and multiple short metal bent plates (25AA) are grasped by the right leg Arranged side by side, two long metal curved plates (25AB) for small right legs are respectively set on the two sides of multiple short metal curved plates (25AA) for small right legs, and two long metal curved plates (25AB) for small right legs (25AB) and Multiple right-leg small-hand short metal bent plates (25AA) are fixedly connected by multiple right-leg small hand-grab bolts (25AD), and any two adjacent right-leg small hand long metal bent plates (25AB) and right-leg small hand short Right leg gripper bolt (25AD) between metal bends (25AA) with a right leg gripper nut (25AC), two right leg gripper long metal bends (25AB) and right leg grippers The short metal curved plates (25AA) have the same curvature direction, and the two right leg big hands hold the long metal curved plates (25FB) side by side. On both sides of the long metal bent plate (25FB), multiple right leg big hand grab short metal bent plates (25FA) and two right leg big hand long metal bent plates (25FB) through multiple right leg big hand grab bolts (25FD) Fixed connection, and right leg big hand grasping bolt (25F D) There is a right leg big hand grip nut (25FC), multiple right leg big hand short metal bent plates (25FA) and two right leg big hand long metal bent plates (25FB) with the same curvature direction, the right leg The output end of the output shaft of the third steering gear (24A) is fixedly installed on the oblique bracket of the right leg steering gear (25C). Set directly in the right leg servo fixing frame (25E), and the output shafts of the right leg second two-axis servo (25B) and the right leg third two-axis servo (25D) are set alternately, and the right leg second two-axis The output shaft of the steering gear (25B) is located above the output shaft of the third dual-axis steering gear (25D) of the right leg, and the output ends of each output shaft of the second dual-axis steering gear (25B) of the right leg are respectively connected to the rudder of the right leg A slant plate of the machine slant bracket (25C) is fixedly connected, and the output end of each output shaft of the third dual-axis steering gear (25D) of the right leg is fixedly connected with the fixed plate of the long metal bent plate (25AB) of the right leg small hand , the tops of the two right leg big hand grips long metal bent plates (25FB) are fixedly installed on the two output shafts of the second steering gear 25B of the right leg, and the curvature direction of the right leg small hand grip (25A) is the same as the right leg big hand grip ( 25F) relative to the camber direction. 5. A three-legged robot for soil collection in dangerous areas according to claim 2, characterized in that: the hind legs (3) include hind leg hip joints (31), hind leg thigh joints (32), hind legs Knee joint (33), hind leg calf joint (34) and hind leg claw joint (35), hind leg hip joint (31) including the support bracket for the first steering gear of the rear leg (31A), the first steering gear of the rear leg (31B) and the first metal rudder plate of the rear leg (31C), the thigh joint of the rear leg (32) includes the support bracket (32A) of the second steering gear of the rear leg, the long U-shaped bracket (32B) of the first steering gear of the rear leg (32B), the rear The second servo of the leg (32C) and the second metal steering wheel of the rear leg (32D), the knee joint of the rear leg (33) includes the short U-shaped bracket (33A) of the first servo of the rear leg, the first two-axis servo of the rear leg (33B), U-shaped bracket for the second steering gear of the rear leg (33C) and two dedicated steering wheels for the first rear leg (33D), the calf joint of the rear leg (34) includes the third steering gear of the rear leg (34A), the rear leg The third steering gear support bracket (34B) and the third metal steering wheel (34C) of the rear leg, the claw joint of the rear leg (35) includes the small hand grip of the rear leg (35A), the second two-axis steering gear of the rear leg (35B), Rear leg servo oblique bracket (35C), rear leg third dual-axis servo (35D), rear leg servo fixing frame (35E) and rear leg big hand grip (35F), rear leg small hand grip (35A) includes two HIND LIGHT GRAPH LONG METAL BEND (35AB), MULTI HIND LEG SHORT METAL BEND (35AA), MULTI HIND LIGHT BOLTS (35AD) AND MULTI HIND LIGHT NUTS (35AC), HIND Big Hands (35F) includes two rear big hands long metal bends (35FB), multiple rear big hands short metal bends (35FA), multiple rear big hands bolts (35FD) and multiple rear big hands Catch Nut (35FC); The output shaft of the first rear leg steering gear (31B) is installed between the upper triangle frame and the lower triangle frame (4-1) of the body through the first rear leg metal steering wheel (31C), and the rear leg first steering gear support bracket (31A) The support plate of the rear leg is installed on the outer wall of the first steering gear (31B), and a support plate of the rear leg second steering gear support bracket (32A) is fixedly installed on the outer wall of the rear leg second steering gear (32C). , the output shaft of the second steering gear of the rear leg (32C) is installed on one side wall of the long U-shaped bracket (32B) of the first steering gear of the rear leg through the second metal steering wheel (32D) of the rear leg, and the second steering gear of the rear leg The other support plate of the machine supporting bracket (32A) is connected with the other side wall of the long U-shaped bracket (32B) of the first steering gear, and the bottom plate of the long U-shaped bracket (32B) of the first steering gear of the rear leg is connected with the second side wall of the long U-shaped bracket (32B) of the rear leg The bottom plate of the U-shaped bracket of the steering gear (13C) is fixedly connected, and the base of the first two-axis steering gear (33B) of the rear leg is respectively fixed and installed on the two side walls of the short U-shaped bracket (33A) of the first steering gear of the rear leg. Each output shaft of the first rear leg two-axis steering gear (33B) is rotationally connected to a side wall of the rear leg second steering gear U-shaped bracket (33C) through a rear leg first dedicated steering wheel (33D), The bottom plate of the long U-shaped bracket (32B) of the first steering gear of the rear leg is fixedly connected with the bottom plate of the U-shaped bracket (33C) of the second steering gear of the rear leg, and the bottom plate of the support bracket (34B) of the third steering gear of the rear leg is connected The bottom plate of the short U-shaped bracket (33A) of the first steering gear is fixedly connected, the third steering gear support bracket (34B) of the rear leg is fixedly installed on the outer wall of the third steering gear (34A) of the rear leg, and the third metal rudder plate of the rear leg (34C) is set on the output shaft of the third rear servo (34A), and one end of the long metal bent plate (35AB) of each hind leg is processed with a fixed plate, and several short metal bent plates ( 35AA) are set side by side, two long metal curved plates (35AB) for small hind legs are respectively set on both sides of multiple short metal curved plates (35AA) for small hands of hind legs, and two long metal curved plates (35AB ) and several short metal bent plates (35AA) for the small hands of the hind legs (35AA) are fixedly connected by multiple small hands of the rear legs (35AD), and any two adjacent long metal bent plates for the small hands of the hind legs (35AB) and the small hands of the hind legs One hind leg nut (35AC) on the hind leg finger bolt (35AD) between the short metal bends (35AA), two hind leg handles long metal bends (35AB) and multiple rear legs The bending direction of the short metal bending plates for small hands (35AA) is the same, two long metal bending plates for big hands of hind legs (35FB) are arranged side by side, and multiple short metal bending plates for big hands of hind legs (35FA) are arranged side by side on the two rear legs respectively. On both sides of the leg big hand long metal bent plate (35FB), multiple hind leg big hand short metal bent plates (35FA) and two rear leg big hand long metal bent plates (35FB) through multiple rear leg big hand bolts ( 35FD) fixed connection, and any adjacent hind leg big hand grip short metal bent plate (35FA) and hind leg big hand long metal bent plate (35FB) between the rear leg big hand grip bolts (3 5FD) is equipped with a hind leg big hand grip nut (35FC), multiple hind leg big hand grip short metal bent plates (35FA) and two hind leg big hand grip long metal bent plates (35FB) with the same curvature direction, the rear leg No. The output end of the output shaft of the three servos 34A is fixedly installed on the oblique bracket (35C) of the rear leg servos, and the second two-axis servo (35B) of the rear legs (35B) and the third two-axis servo (35D) of the rear legs are arranged vertically In the rear leg servo fixing frame (35E), and the output shafts of the second two-axis servo (35B) and the third two-axis servo (35D) of the rear leg are set alternately, and the second two-axis servo of the rear leg The output shaft of (35B) is located above the output shaft of the third dual-axis servo (35D) of the rear leg, and the output ends of each output shaft of the second dual-axis servo (35B) of the rear leg are respectively inclined to the rear leg servo. A slant plate of the bracket (35C) is fixedly connected, and the output end of each output shaft of the third dual-axis steering gear (35D) of the rear leg is fixedly connected with the fixed plate of the long metal bent plate (35AB) held by the small hand of the rear leg. The top of the long metal curved plate (35FB) of the big hand of the first hind leg is fixedly installed on the two output shafts of the second steering gear 35B of the rear leg, and the direction of curvature of the small hand of the rear leg (35A) is the same as that of the big hand of the rear leg (35F). The direction of curvature is set relatively. 6. A three-legged robot for soil collection in dangerous areas according to claim 1, 2, 3, 4 or 5, wherein the robot has 18 degrees of freedom driven by the active rotation of the steering gear; The first degree of freedom: refers to the active rotation around the output shaft of the first steering gear of the left leg (11B), and the output shaft of the first steering gear of the left leg (11B) is parallel to the Z axis; The second degree of freedom: refers to the active rotation around the output axis of the second steering gear of the left leg (12C), and the output axis of the second steering gear of the left leg (12C) is perpendicular to the Z axis; The third degree of freedom: refers to the active rotation around the output shaft of the first two-axis steering gear (13B) of the left leg, and the output shaft of the first two-axis steering gear (13B) of the left leg is perpendicular to the Z axis; The fourth degree of freedom: refers to the active rotation around the output axis of the third steering gear of the left leg (14A), and the output axis of the third steering gear of the left leg (14A) is parallel to the Z axis; The fifth degree of freedom: refers to the active rotation around the output shaft of the second two-axis steering gear (15B) of the left leg; The sixth degree of freedom: refers to the active rotation around the output axis of the third two-axis servo (15D) of the left leg; The seventh degree of freedom: refers to the active rotation around the output shaft of the first steering gear of the right leg (21B), and the output shaft of the first steering gear of the right leg (21B) is parallel to the Z axis; The eighth degree of freedom: refers to the active rotation of the output shaft of the second steering gear of the right leg (22C), and the output shaft of the second steering gear of the right leg (22C) is perpendicular to the Z axis; The ninth degree of freedom: refers to the active rotation around the output axis of the first two-axis steering gear (23B) of the right leg, and the output axis of the first two-axis steering gear (23B) of the right leg is perpendicular to the Z axis; The tenth degree of freedom: refers to the active rotation of the output shaft of the third servo (24A) of the right leg; The eleventh degree of freedom: refers to the active rotation around the output shaft of the second two-axis steering gear (25B) of the right leg; The twelfth degree of freedom: refers to the active rotation around the output shaft of the third dual-axis steering gear (25D) of the right leg; The thirteenth degree of freedom: refers to the active rotation around the output axis of the first rear-leg steering gear (31B), and the output axis of the first rear-leg steering gear (31B) is parallel to the Z-axis; The fourteenth degree of freedom: refers to the active rotation around the output axis of the second rear steering gear (32C), the output axis of the second rear steering gear (32C) is perpendicular to the Z axis; The fifteenth degree of freedom: refers to the active rotation around the output shaft of the first rear leg two-axis steering gear (33B), and the output shaft of the first rear leg two-axis steering gear (33B) is perpendicular to the Z axis; The sixteenth degree of freedom: refers to the active rotation around the output shaft of the third steering gear (34A) of the rear leg; The seventeenth degree of freedom: refers to the active rotation around the output shaft of the second two-axis steering gear (35B) of the rear leg; The eighteenth degree of freedom: refers to the active rotation around the output shaft of the third dual-axis steering gear (35D) of the rear leg.