CN205469365U - Six -legged robot - Google Patents

Abstract

The utility model discloses a six -legged robot, including frame, running gear and control system, running gear includes two sets of walking legs group, and walking leg group of every group includes the same mechanical legs of three structure and can drive three mechanical legs's of inter block actuating mechanism simultaneously that the mechanical legs of two sets of walking legs group separates each other and cooperates the setting with the frame, mechanical legs all includes thigh, shank and vacuum adsorption foot, and the thigh to be in order setting up in the frame in horizontal plane pivoted mode, the shank with can vertical flat rotation in surface's mode with the thigh cooperation sets up, and the vacuum adsorption foot is in order setting up with the shank cooperation in vertical flat rotation in surface's mode, not only can cooperate high definition camera and crack detection appearance to detect bridge surface or inside problem or the hidden danger that exists to satisfy the requirement that the bridge detected, moreover can amphibious operation, and possess the ability of stronger leap obstacle.

Description

Hexapod Robot

Technical field

This utility model relates to robot field, particularly to a kind of Hexapod Robot.

Background technology

Industrial robot is widely used to including including industry manufacture, pharmacy, housekeeping cleaning, detection detection etc. Every field possess.In science of bridge building field, the region to be detected of large-sized concrete structural bridge exists Horizontal plane and vertical, part the most also needs to have selected hollow out, stepped or bridge pier to cross the labyrinths such as water because of structure, Certain difficulty and challenge is caused to detection.

The related application of robot provides a good approach to solving the problems referred to above.But major part machine People due to structure, adsorption mechanism, control, the restriction of climbing mode and energy resource supply presents difference, Can be only applied in single or specific task.Further, " speed " and " obstacle detouring " is climbing robot motion During conflicting entity, the influence factor how solving conflict during research detection realizes The lifting of robot integrated motion ability becomes problem in the urgent need to address.Meanwhile, existing bridges detection machine People is used for the detection of boat structure, and underwater portion many employings diver of overflow bridge carries apparatus operation, operation Loaded down with trivial details, the safety of testing staff can not be ensured completely.Therefore, research one both can realize bridge Above water, can carry out, for bridge water lower part, the robot that detects again, just there is the strongest reality meaning Justice.

Utility model content

In view of this, this utility model provides a kind of Hexapod Robot, not only can coordinate high definition camera and crackle inspection Survey instrument detection bridge surface or the internal problem existed or hidden danger, to meet the requirement of bridge machinery, Er Qieke Amphibious operation, and possess the ability of stronger leaping over obstacles.

Hexapod Robot of the present utility model, including frame, walking mechanism and control system；Walking mechanism includes Two groups of walking lower limb groups, often group walking lower limb group includes pedipulator that three structures are identical and can simultaneously drive three machines in group The drive mechanism of tool lower limb, the pedipulator of two groups of walking lower limb groups is spaced to be equipped with frame；

Pedipulator all includes thigh, shank and vac sorb foot, and thigh is to arrange in the way of horizontal plane rotation In described frame, shank by can be being equipped with described thigh in the way of rotation in perpendicular, vac sorb Foot is can be equipped with described shank in the way of rotating in perpendicular.

Further, drive mechanism includes what the clutch end circumference of main drive and main drive was fixed Drive bevel gear and power intake and drive bevel gear engaged transmission also are used for driving the thigh of pedipulator to rotate Bevel Gear Transmission secondary, the secondary and corresponding each pedipulator one_to_one corresponding setting walked in lower limb group of Bevel Gear Transmission.

Further, often group walking lower limb group in have in one group of Bevel Gear Transmission pair be provided with for drive bevel gear from Close the arrangement of clutch of transmission.

Further, in two groups of walking lower limb groups with the corresponding transmission of Bevel Gear Transmission parafacies arranging arrangement of clutch in group even The pedipulator connect is symmetrical arranged relative to frame.

Further, Bevel Gear Transmission pair includes power input bevel gear, power transmission shaft and power output bevel gear wheel, Power input bevel gear and drive bevel gear engaged transmission, power output bevel gear wheel sets on the end of corresponding thigh The driven wheel of differential put is meshed.

Further, on the driven wheel of differential end by described thigh, the cone gear ring of one-body molded setting is formed.

Further, vac sorb foot includes suction tray that housing is connected with housing, with side moving up and down Form the piston of vacuum and be arranged on shell in formula is arranged on suction tray and when suction tray and absorption interracial contact Piston driving assembly that is internal and that drive piston to move up and down.

Further, piston driving assembly includes driving cam, indexing governor motion and lower end to stretch in suction tray also The piston rod being connected with piston, indexing governor motion includes indexing set, rotating disk and inner core, and indexing puts and is provided with Head tank and Lower tank, exist in being enclosed within indexing set and by driving actuated by cams to move up and down to order about rotating disk in inner core Switching between the head tank of indexing set and Lower tank, piston rod upper end is supported and is terminated in rotating disk.

Further, piston base is additionally provided with the deformation layer of elastically deformable；Circumference between piston and suction tray inwall Seal and coordinate.

Further, control system includes:

Position sensor, is installed on the bottom of frame, for monitoring robot walking path in the course of the work；

Velocity sensor, is installed on the thigh of every pedipulator and the inside of shank, for measuring the speed of pedipulator Degree；

Acceleration transducer, is installed on the thigh of every pedipulator and the inside of shank, is used for monitoring every machinery The acceleration of each joint of lower limb；

Pressure transducer, is installed on deformation layer, internal pressure when being used for monitoring suction tray vac sorb；

Central controller, is installed on frame, for receiving position sensor, velocity sensor, acceleration sensing The detection signal of device and pressure transducer outwards output order are to control robot work.

The beneficial effects of the utility model: Hexapod Robot of the present utility model, six pedipulators constitute six foot row Walk mechanism, and the thigh of each pedipulator, shank and foot all can each self-adjusting, by multiarticulate adjustment Attitude, can ensure when bridge machinery to detect equipment choice optimum detection angle and distance, it is ensured that testing result In high precision, and the multiarticulate motility of polypody makes this robot can possess powerful obstacle climbing ability, not only May span across the obstacle of different sizes and shapes, by the cooperation between the pedipulator of two groups of walking lower limb groups, it is also possible to real Existing horizontal plane shifts to the walking of vertical；It addition, the vac sorb foot of frame for movement can make this robot May operate in the amphibious environment such as overflow bridge, do not limit to and existing magnetic texure, single can realize under water and The detection of on-water bridge structure.

Accompanying drawing explanation

With embodiment, this utility model is further described below in conjunction with the accompanying drawings.

Fig. 1 is this utility model structural representation；

Fig. 2 is this utility model structure top view；

Fig. 3 is the structural representation of the vac sorb foot in this utility model.

Detailed description of the invention

Fig. 1 is this utility model structural representation, and Fig. 2 is this utility model structure top view, and Fig. 3 is this reality With the structural representation of the vac sorb foot in novel, as shown in the figure: the Hexapod Robot of the present embodiment, bag Including rack 1, walking mechanism and control system；Walking mechanism includes two groups of walking lower limb groups, often group walking lower limb group bag The drive mechanism of three pedipulators in including three identical pedipulators of structure and group can being simultaneously driven, two groups of walking lower limb groups Pedipulator spaced be equipped with frame 1；

Pedipulator all includes thigh 8, shank 9 and vac sorb foot 10, and thigh 8 is to rotate at horizontal plane Mode is arranged at frame 1, and shank 9 is can be equipped with, very with thigh 8 in the way of rotating in perpendicular Empty adsorption foot section 10 is can be equipped with shank 9 in the way of rotating in perpendicular.It addition, in frame Being additionally provided with the bridge detecting device for bridge machinery, bridge detecting device includes camera 29, is installed on machine On frame；Crackle detecting instrument 28, for detecting the crackle of bridge deck surfaces or inside.

As it can be seen, be respectively arranged with first pedipulator the 2, second pedipulator the 3, the 3rd pedipulator in frame 1 4, the 4th pedipulator the 5, the 5th pedipulator 6 and the 6th pedipulator 7, wherein, the first pedipulator the 2, the 3rd machine Tool lower limb 4 and the 5th pedipulator 6 constitute a walking lower limb group, the second pedipulator the 3, the 4th pedipulator 5 and the 6th Pedipulator 7 constitutes another walking lower limb group, setting pedipulator spaced cooperation with frame 1 of two groups of walking lower limb groups Put the pedipulator being all arranged at intervals with another walking lower limb group between the pedipulator referring in every group, two walking lower limb groups It is respectively arranged with a corresponding drive mechanism, and drive mechanism corresponding to each walking lower limb group can be driven simultaneously Three pedipulators in dynamic group, by this setup, often three pedipulators of group walking lower limb group are respectively formed one Triangle, can ensure that the stability of robot when being adsorbed in working surface, and meanwhile, another lower limb of walking Three pedipulators of group move to next precalculated position, and leapfroging of two groups of lower limbs compares the movement of single lower limb, greatly Improve speed.

It addition, the thigh 8 of pedipulator can be in horizontal rotation in surface refers to the plane paralleled with frame 1, this In embodiment, frame 1 is tabular, and is regular hexagon, and six pedipulators are separately positioned on an apex, Shank 9 is provided with shank 9 drive mechanism with the joint of thigh 8, and shank 9 drive mechanism includes motor and turns Axle, to drive shank 9 to rotate in perpendicular, in like manner, shank 9 is provided with foot with the joint of foot Drive mechanism, the mode adding rotating shaft again by motor drives foot to rotate in perpendicular.

In the present embodiment, drive mechanism includes main drive 11 and the clutch end of main drive 11 Drive bevel gear 12 that circumference is fixing and power intake and drive bevel gear 12 engaged transmission also are used for driving machine The Bevel Gear Transmission that the thigh 8 of tool lower limb rotates is secondary, each machinery in Bevel Gear Transmission secondary and corresponding walking lower limb group Lower limb one_to_one corresponding is arranged；As it can be seen, main drive 11 is for driving motor, the power of main drive 11 Output shaft is fixed with drive bevel gear 12 circumference, and main drive 11 is arranged in frame 1, each group of walking Three pedipulators of lower limb group are respectively by the secondary drive bevel gear 12 with corresponding drive mechanism of a Bevel Gear Transmission Engaged transmission, to drive the thigh 8 of pedipulator at horizontal rotation in surface.

In the present embodiment, often group walking lower limb group in have in one group of Bevel Gear Transmission pair be provided with for active conical tooth Take turns the arrangement of clutch 13 of 12 clutch transmissions；The cone tooth of arrangement of clutch 13 in two groups of walking lower limb groups and is set in group The wheel corresponding pedipulator being in transmission connection of transmission is symmetrical arranged relative to frame 1.As it can be seen, with the second machine It is provided with clutch in the Bevel Gear Transmission pair that the Bevel Gear Transmission of tool lower limb 3 correspondence is secondary and corresponding with the 5th pedipulator 6 Device 13, arrangement of clutch 13 is clutch, clutch can make the second pedipulator 3 and the 5th pedipulator 6 with Transmission between the drive bevel gear 12 of corresponding drive mechanism engages or disconnects；By the setting of clutch, can Wall function of climbing when realizing robot ambulation realizes obstacle detouring, specific as follows: robot needs from bridge floor automatically to hanging down Straight in the bridge pier of bridge floor, or when crossing over larger volume obstacle, can first make one of which walking lower limb group work, with As a example by first pedipulator the 2, the 3rd pedipulator 4 and the 5th pedipulator 6 first work, when wall climbed by needs, first lead to Crossing this three pedipulator makes frame 1 near metope, and by arrangement of clutch 13, the 5th pedipulator 6 is disconnected power Transmission, then makes the rotation of the first pedipulator 2 and the shank 9 of the 3rd pedipulator 4 and foot be adsorbed onto on metope, Then by thigh 8 and shank 9 joint of the first pedipulator the 2, the 3rd pedipulator 4 and the 5th pedipulator 6 Motor adjust the attitude of frame 1 entirety, now the first pedipulator 2 and the thigh 8 of the 3rd pedipulator 4 and little Joint synergism at lower limb 9, tilts frame 1 to metope, the second machine being under unadsorbed vacant state Tool lower limb the 3, the 4th pedipulator 5 also tilts to the second pedipulator 3 with frame with the 6th pedipulator 7 and can just contact And adsorb and metope, then ensure that the arrangement of clutch 13 of the second pedipulator 3 disconnects, by the 4th pedipulator 5 He The foot of the 6th pedipulator 7 is adsorbed onto on metope, the most unsettled first pedipulator 2, the 3rd pedipulator 4 and Five pedipulators 6, now the second pedipulator the 3, the 4th pedipulator 5 and the thigh 8 of the 6th pedipulator 7 and shank Joint synergism at 9, tilts to parallel with metope further by frame 1 to metope, then the first machinery The thigh 8 of lower limb the 2, the 3rd pedipulator 4 and the 5th pedipulator 6 adjusts three articles of lower limbs with the motor of shank 9 joint Angle, make the first pedipulator the 2, the 3rd pedipulator 4 and the 5th pedipulator 6 also be adsorbed in metope, thus reach To the purpose climbing wall.

In the present embodiment, Bevel Gear Transmission pair includes power input bevel gear 14, power transmission shaft 15 and power Output bevel gear wheel 16, power input bevel gear 14 and drive bevel gear 12 engaged transmission, power output bevel gear Wheel 16 is meshed with the driven wheel of differential 17 arranged on the end of corresponding thigh 8；Each group walking lower limb group in right The three groups of power input bevel gears 14 answering pedipulator to arrange all engage with drive bevel gear 12, power transmission shaft 15 bottom surfaces being pivotally arranged on frame 1, power output bevel gear wheel 16 transmits to often for power At the thigh 8 of one pedipulator, the linkage driving of pedipulator in a group can be realized by this structure, compact conformation, And energy consumption is less, and greatly reduce the overall weight of robot.

In the present embodiment, driven wheel of differential 17 is by the cone gear ring of one-body molded setting on the end of described thigh 8 Formed；Structural strength is high.

In the present embodiment, vac sorb foot 10 include suction tray 19 that housing 18 is connected with housing 18, In being arranged on suction tray 19 in mode moving up and down and for suction tray 19 and formation during absorption interracial contact The piston 20 of vacuum and in being arranged on housing 18 and the piston driving assembly that drives piston to move up and down；Suction tray End be made up of high-ductility rubber, there is certain deformability guarantee thus realize with adsorb interface tight Contact.

In the present embodiment, piston driving assembly includes driving cam 21, indexing governor motion and lower end to stretch into suction The piston rod 22 in attached dish 19 and being connected with piston, indexing governor motion includes indexing set 23, rotating disk 24 and Inner core 25, indexing set 23 is provided with head tank 23-1 and Lower tank 23-2, is enclosed within indexing set in inner core 25 In 23 and moved up and down to order about rotating disk 24 by driving cam 21 driving and overlap head tank and the low level of 23 in indexing Switching between groove, piston rod 22 upper end is supported and is terminated in rotating disk 24 and be rotatably assorted, and piston rod upper end rotates with rotating disk joins Close, but piston rod when rotating disk moves up and down, can be driven to move up and down；At the beginning, helical teeth rotating disk 24 arranged Claw is positioned at the head tank of indexing set 23, and suction tray 19 end face of foot is tightly pressed in the boundary that need to adsorb On face, by driving cam 21 to drive inner core 25 to move downward, corresponding driving cam 21 is provided with cam and drives Motivation structure, it is ensured that actuated by cams motor and motor shaft, the moving downward of inner core 25 order about rotating disk 24 and move downward, Rotating when rotating disk 24 moves downwardly to low level, helical teeth claw coordinates, in this mistake with the Lower tank of indexing set 23 Cheng Zhong, piston rod 22 can promote piston to move downward, and the air in suction tray 19 and moisture is extruded, when needing Time to be adsorbed, driving cam 21 to rotate, the helical teeth claw of rotating disk 24 enters the head tank of indexing set 23, lives Upwards, owing to the end face of suction tray 19 is tightly pressed in absorption interface, piston is upwardly formed vacuum chamber to stopper rod 22, With extraneous air pressure or a hydraulically-formed pressure differential, thus form vac sorb.

In the present embodiment, piston base is additionally provided with the deformation layer 26 of elastically deformable；Piston and suction tray 19 Between inwall, circumferential sealing coordinates, and outside piston week is provided with sealing ring 27；Deformation layer extremely squeezes downwards at piston Laying in elastic potential energy during pressure, when driving cam 21 no longer to extrude inner core 25, the deformation layer extremely compressed is released Leave with the elastic potential energy of storage, to one thrust upwards of piston.

In the present embodiment, control system includes:

Position sensor 31, is installed on the bottom of frame 1, for monitoring robot row in the course of the work Walk path；

Velocity sensor 32, is installed on thigh 8 and the inside of shank 9 of every pedipulator, for measuring machine The speed of tool lower limb；

Acceleration transducer, is installed on thigh 8 and the inside of shank 9 of every pedipulator, is used for monitoring every The acceleration of each joint of pedipulator；

Pressure transducer 33, is installed on deformation layer, internal pressure when being used for monitoring suction tray 19 vac sorb；

Central controller 30, is installed on frame 1, for receiving position sensor, velocity sensor, acceleration Spend sensor and the detection signal of pressure transducer and outwards export order to control robot work.

Finally illustrate, above example only in order to the technical solution of the utility model to be described and unrestricted, Although being described in detail this utility model with reference to preferred embodiment, those of ordinary skill in the art should Work as understanding, the technical solution of the utility model can be modified or equivalent, without deviating from this reality By objective and the scope of new technique scheme, it all should be contained in the middle of right of the present utility model.

Claims (10)

1. a Hexapod Robot, it is characterised in that: include frame, walking mechanism and control system；Described row Walking mechanism and include two groups of walking lower limb groups, often group walking lower limb group includes pedipulator that three structures are identical and can drive simultaneously The drive mechanism of three pedipulators in dynamic group, the pedipulator of two groups of walking lower limb groups is spaced to be equipped with frame；

Described pedipulator all includes thigh, shank and vac sorb foot, and described thigh is to rotate at horizontal plane Mode is arranged at described frame, and described shank sets can coordinate with described thigh in the way of rotation in perpendicular Putting, described vac sorb foot is can be equipped with described shank in the way of rotating in perpendicular.

Hexapod Robot the most according to claim 1, it is characterised in that: described drive mechanism includes main driving Drive bevel gear that the clutch end circumference of dynamic device and main drive is fixing and power intake with actively Bevel gear engaged transmission the Bevel Gear Transmission for driving the thigh of pedipulator to rotate are secondary, described Bevel Gear Transmission Each pedipulator one_to_one corresponding in secondary and corresponding walking lower limb group is arranged.

Hexapod Robot the most according to claim 2, it is characterised in that: often there is one group in group walking lower limb group It is provided with for the arrangement of clutch with drive bevel gear clutch transmission in described Bevel Gear Transmission pair.

Hexapod Robot the most according to claim 3, it is characterised in that: interior with group in two groups of walking lower limb groups Arrange the pedipulator that the Bevel Gear Transmission parafacies correspondence of described arrangement of clutch is in transmission connection to set relative to frame symmetry Put.

Hexapod Robot the most according to claim 4, it is characterised in that: described Bevel Gear Transmission pair includes Power input bevel gear, power transmission shaft and power output bevel gear wheel, described power input bevel gear and described master Dynamic bevel gear engaged transmission, described power output bevel gear wheel and the driven wheel of differential arranged on the end of corresponding thigh It is meshed.

Hexapod Robot the most according to claim 5, it is characterised in that: described driven wheel of differential is by described The cone gear ring of one-body molded setting on the end of thigh is formed.

7. according to the Hexapod Robot described in claim 1-6 any claim, it is characterised in that: described very Empty adsorption foot section includes suction tray that housing is connected with housing, is arranged on suction tray in mode moving up and down In and for suction tray with absorption interracial contact time form the piston of vacuum and to be arranged on housing interior and drive piston The piston driving assembly moved up and down.

Hexapod Robot the most according to claim 7, it is characterised in that: described piston driving assembly includes The piston rod in driving cam, indexing governor motion and lower end to stretch into suction tray and being connected with piston, described indexing Governor motion includes indexing set, rotating disk and inner core, and described indexing puts and is provided with head tank and Lower tank, described The rotating disk head tank at indexing set is ordered about in being enclosed within indexing set in inner core and by driving actuated by cams to move up and down And switch between Lower tank, described piston rod upper end is supported and is terminated in rotating disk.

Hexapod Robot the most according to claim 8, it is characterised in that: described piston base is additionally provided with The deformation layer of elastically deformable；Between described piston with described suction tray inwall, circumferential sealing coordinates.

Hexapod Robot the most according to claim 9, it is characterised in that: described control system includes:

Position sensor, is installed on the bottom of frame, for monitoring robot walking path in the course of the work；

Velocity sensor, is installed on the thigh of every pedipulator and the inside of shank, for measuring the speed of pedipulator Degree；

Acceleration transducer, is installed on the thigh of every pedipulator and the inside of shank, is used for monitoring every machinery The acceleration of each joint of lower limb；

Pressure transducer, is installed on deformation layer, internal pressure when being used for monitoring suction tray vac sorb；

Central controller, is installed on frame, for receiving position sensor, velocity sensor, acceleration sensing The detection signal of device and pressure transducer outwards output order are to control robot work.