CN205971578U - Remote -controlled robot - Google Patents

Abstract

The utility model relates to a remote -controlled robot, including fuselage and mechanical legs, mechanical legs can set up through switching portion with moving about on the fuselage. Mechanical legs include with but fuselage swing joint's a slave arm and a drive assembly, a drive assembly can drive the slave arm is relative the fuselage motion, wherein, a drive assembly includes block stopping structure, block stopping structure is used for giving the sufficient holding power of slave arm, and make a drive assembly can keep current transmission state under the circumstances by the power cut, thereby makes mechanical legs can keep current running state. Even foretell remote -controlled robot still can keep power by the running state before cutting off when power is cut off.

Description

Teleoperator

Technical field

This utility model is related to robot field, more particularly, to a kind of teleoperator.

Background technology

With scientific and technological development, in modern society, the application of teleoperator such as reptile robot, bio-robot More and more extensive.The joint of the pedipulator of current teleoperator is generally directly driven by steering wheel, makes described remote control machine Device people is capable of the function of walking, climb.However, when the power of described teleoperator is cut off, for example, when described distant After man-controlled mobile robot power-off, described steering wheel loses energy source, because steering wheel does not have auto-lock function, makes the machine of described teleoperator The joint of tool lower limb loses support force, lead to described teleoperator power be cut off when just weak and limp on ground.Therefore, above-mentioned distant Man-controlled mobile robot uses limitation larger.

Utility model content

In view of above-mentioned condition is it is necessary to provide a kind of teleoperator, even if this teleoperator is when power is cut off It still is able to the running status before keeping power to be cut off.

This utility model embodiment provides a kind of teleoperator, and including fuselage and multiple pedipulator, described pedipulator can It is movably arranged as on described fuselage.Described pedipulator includes slave arm and the first transmission with the movable connection of described fuselage Assembly, described first transmission component can drive the relatively described fuselage motion of described slave arm.Wherein, described first transmission component Including engaging backing stop structure, described engaging backing stop structure is used for when described first transmission component is in cut-off power, locking institute State the first transmission component, so that described first transmission component is able to maintain that current drive state, so that described pedipulator energy Enough keep current running status.

Further, described pedipulator also includes the driven actuator being connected to described fuselage, described first transmission component It is connected on described driven actuator, described driven actuator can drive described first transmission component to drive described slave arm fortune Dynamic.

Further, described first transmission component is screw mechanism, and described driven actuator is electric rotating machine.

Further, described first transmission component includes screw mandrel and the nut being meshed with described screw mandrel, and described screw mandrel is even It is connected to the drive shaft of described electric rotating machine, described slave arm is rotatably connected at described fuselage, and is rotatably connected at institute State on nut, described engaging backing stop structure is described screw mandrel and the engaging structure of described nut.

Further, described screw mandrel is connected to the drive shaft of described electric rotating machine by universal joint.

Further, described nut is rotatably connected with described slave arm by rotating shaft.

Further, described first transmission component is worm-and-wheel gear, and described driven actuator is electric rotating machine.

Further, described first transmission component includes worm screw and the worm gear being meshed with described worm screw, and described worm screw is even It is connected to the drive shaft of described electric rotating machine, described slave arm is connected on described worm gear, described engaging backing stop structure is described snail Wheel and the engaging structure of described worm screw.

Further, described pedipulator also includes master arm, and described master arm is rotatably connected at described fuselage, described Driven actuator is arranged on described master arm, and described slave arm is rotatably connected on described master arm, with described machine Body is connected.

Further, described pedipulator also includes the active drive part being fixed on described fuselage and switching part, described turn Socket part is arranged on described active drive part；Described master arm is connected to described active drive part, and described active drive part can Described master arm is driven to rotate relative to described fuselage, to drive described pedipulator integrally to rotate relative to described fuselage.

Further, described active drive part is rotary drive, and described rotary drive can pass through described master arm Described pedipulator is driven integrally to rotate relative to described fuselage, to change described pedipulator position in the horizontal direction.

Further, described active drive part passes through the angle controlling described pedipulator to rotate relative to described fuselage, controls The step-length of described pedipulator movement.

Further, described active drive part drives the rotating shaft that described pedipulator rotates to be basically parallel to the perpendicular of described fuselage Straight central shaft setting.

Further, described pedipulator is less than or equal to 180 degree relative to the angle that described fuselage rotates.

Further, described driven actuator can drive described slave arm relatively described by described first transmission component Master arm rotates, to change the position in vertical direction for the described pedipulator.

Further, described driven actuator passes through the angle controlling described slave arm to rotate, control relative to described master arm Make the height of described pedipulator climbing.

Further, described driven actuator drives the rotating shaft that described slave arm rotates relative to described master arm, substantially vertical The straight vertical central shaft setting in described fuselage.

Further, described slave arm is less than or equal to 100 degree relative to the rotational angle that described master arm rotates.

Further, described teleoperator also includes executing joint, and described execution joint is arranged on described slave arm, Described slave arm can drive described execution joint motions.

Further, also include the execution actuator that is arranged on described slave arm and be connected to described execution actuator On execution arm, described execution actuator is used for driving described execution arm to rotate relative to described slave arm.

Further, described execution actuator passes through to drive described execution arm to rotate relative to described slave arm, can adjust The angle when landing for the described pedipulator.

Further, described execution actuator passes through the angle controlling described execution arm to rotate, control relative to described slave arm Make the angle of described pedipulator climbing.

Further, the rotating shaft that described execution arm rotates relative to described slave arm, is basically perpendicular to the vertical of described fuselage Central shaft is arranged.

Further, described execution arm is less than or equal to 100 degree relative to the angle that described slave arm rotates.

Further, also include the second transmission component, described second transmission group can be driven by described second driving member Part drives described execution arm to move with respect to described slave arm, and described second transmission component includes engaging backing stop structure, so that institute State slave arm in cut-off power, described execution joint can keep current running status.

Further, described second transmission component is screw mechanism, and described execution actuator is electric rotating machine.

Further, described second transmission component includes screw mandrel and the nut being meshed with described screw mandrel, and described screw mandrel is even It is connected to the drive shaft of described electric rotating machine, described execution arm is rotatably connected at described slave arm, and is rotatably connected at On described nut, the described engaging backing stop structure of described second driving member is described screw mandrel and the engaging structure of described nut.

Further, described screw mandrel is connected to the drive shaft of described electric rotating machine by universal joint.

Further, described nut is rotatably connected with described execution arm by rotating shaft.

Further, described second transmission component is worm-and-wheel gear, and described execution actuator is electric rotating machine.

Further, described second transmission component includes worm screw and the worm gear being meshed with described worm screw, and described worm screw is even It is connected to the drive shaft of described electric rotating machine, described execution arm is connected on described worm gear, the described engaging of described second driving member Backing stop structure is described worm gear and the engaging structure of described worm screw.

Further, described pedipulator also includes the dampening assembly being arranged on described execution joint, described dampening assembly For damping is carried out to described teleoperator.

Further, described pedipulator also includes the feeler being connected on described dampening assembly, and described feeler is used for institute State teleoperator to be supported on field of employment.

Further, described dampening assembly includes the installing part being connected on described execution joint and is arranged at described dress If the elastic component on part, described feeler is held on described elastic component.

Further, described dampening assembly also includes the fixture being arranged on described execution joint, described installing part with Described fixture is fixedly connected, and described elastic component is held between described fixture and described feeler.

Further, described dampening assembly also includes the movable part being movably disposed on described installing part, described bullet One end of property part is held on described fixture, and the other end is held on described movable part, and described feeler is connected to described activity On part.

Further, described fixture and described elastic component are two groups, and fixture described in two groups is intervally installed On described execution joint, described installing part is arranged at described in two groups between fixture, and elastic component described in two groups is separately positioned on institute State the both sides of movable part, to realize the bidirectional damping of described teleoperator.

Further, described feeler is provided with sensor, described sensor is used for sensing whether described feeler lands.

Further, described sensor be following several in any one：Pressure transducer, range sensor, vision pass Sensor.

Further, described first transmission component is linear electric motors, and described linear electric motors include guide rail and described guide rail phase The slide block of adaptation and switching part, described switching part is arranged on described guide rail, and described guide rail passes through described switching part rotationally It is connected on described fuselage, described slave arm is rotatably connected at described fuselage, and be rotatably connected on described slide block.

Further, described guide rail passes through universal joint, ball pivot or is pivotally connected on described fuselage.

Further, described teleoperator also includes the mechanism loading being movably disposed on described fuselage, described Mechanism loading is used for realizing the additional function of described teleoperator.

Further, described engaging backing stop structure is electronic self-locking mechanism or mechanical automatic locking mechanism.

In above-mentioned teleoperator, because described first transmission component has engaging backing stop structure, described engaging retaining Structure is used for giving described slave arm enough support forces, and makes described first transmission component energy in the case of cut-off power Enough maintain current drive state, so that described pedipulator can keep current running status, it is to avoid described remote control machine Device people weak and limp situation because of cut-off power.

Brief description

The assembling stereogram of the teleoperator that Fig. 1 provides for this utility model embodiment.

Fig. 2 is the side schematic view of the teleoperator shown in Fig. 1.

Fig. 3 is the assembling stereogram of the pedipulator of teleoperator shown in Fig. 1.

Fig. 4 is the schematic perspective view at another visual angle of pedipulator shown in Fig. 3.

Fig. 5 is the schematic perspective view at the another visual angle of pedipulator shown in Fig. 3.

Fig. 6 is the side schematic view of the pedipulator shown in Fig. 3.

Main element symbol description

Following specific embodiment will further illustrate this utility model in conjunction with above-mentioned accompanying drawing.

Specific embodiment

Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is carried out Clearly and completely description is it is clear that described embodiment is only a part of embodiment of this utility model rather than whole Embodiment.Based on the embodiment in this utility model, those of ordinary skill in the art are not under the premise of making creative work The every other embodiment being obtained, broadly falls into the scope of this utility model protection.

It should be noted that when assembly is referred to as " being fixed on " another assembly, it can be directly on another assembly Or can also there is assembly placed in the middle.When an assembly is considered as " connection " another assembly, it can be directly connected to To another assembly or may be simultaneously present assembly placed in the middle.When an assembly is considered as " being arranged at " another assembly, it Can be to be set directly on another assembly or may be simultaneously present assembly placed in the middle.Term as used herein is " vertical ", " level ", "left", "right" and similar statement for illustrative purposes only.

Unless otherwise defined, all of technology used herein and scientific terminology are led with belonging to technology of the present utility model The implication that the technical staff in domain is generally understood that is identical.In term used in the description of the present utility model it is simply herein The purpose of description specific embodiment is it is not intended that in limiting this utility model.Term as used herein " and/or " include The arbitrary and all of combination of one or more related Listed Items.

This utility model embodiment provides a kind of teleoperator, is provided with one or more pedipulators.Wherein at least one Described pedipulator includes slave arm and the first transmission component.Described first transmission component can drive described slave arm relative to institute State fuselage motion.

Wherein, described first transmission component includes engaging backing stop structure, and described engaging backing stop structure is used for described first In cut-off power, the first transmission component described in locking, so that described first transmission component is able to maintain that currently transmission component Drive state so that described pedipulator can keep current running status.

Wherein in some embodiments, described engaging backing stop structure can be electronic self-locking structure.When power is off, described electricity Dynamic self-locking structure is in self-locking state.In energising, described electronic self-locking mechanism releases self-locking.

For example, described first transmission component can include electric expansion cylinder and retaining part, described engaging retaining knot Structure is the snap-in structure of described electric expansion cylinder and described retaining part.When described electric expansion cylinder is energized, described electricity The expansion link of dynamic telescopic cylinder is in contraction state, and now expansion link is departed from corresponding retaining part；Electronic stretch when described During contracting cylinder power-off, described expansion link under self gravitation effect, auto-extending and be in original state, and with corresponding Retaining part engages.Specifically, retaining part can be spur rack or engaging teeth groove etc..

Or, engaging backing stop structure can be including electromagnet component, irony engaging part and retaining part.Work as electromagnetism Ferrum part, in energising, attracts described irony engaging part, makes irony engaging part and described retaining isolation of components；Electric magnet portion When power is off, described irony engaging part is fastened under self gravitation part with described retaining part.Specifically, retaining part can Think spur rack or engaging teeth groove etc..

Wherein in some enforcements, described engaging backing stop structure can be mechanical self-latching structure, for example, intermeshing spiral shell Stricture of vagina.

This utility model embodiment also provides a kind of teleoperator, is provided with one or more pedipulators.Wherein at least one Individual described pedipulator includes one or more joints.Described joint can adjust the locality of described pedipulator, for example, described Joint can adjust angle when the position of horizontal direction, the position of vertical direction, landing etc..

Wherein in some embodiments, described pedipulator can include multiple described joints.For example, described pedipulator includes First joint, second joint and the 3rd joint.Wherein, the first joint, is rotatably connected with described fuselage.Second joint, with Described first joint is rotatably connected.3rd joint, is rotatably connected with described second joint.

Wherein, when described first joint rotates with respect to described fuselage, to adjust the horizontal direction in described 3rd joint Position.Described second joint relatively described first articulation when, to adjust the position of the vertical direction in described 3rd joint.Institute When stating the 3rd joint and rotating with respect to described second joint, to adjust angle when landing in described 3rd joint, for example, with respect to The angle of inclination on ground.

Below in conjunction with the accompanying drawings, some embodiments of the present utility model are elaborated.In the case of not conflicting, under Feature in the embodiment stated and embodiment can be mutually combined.

Please refer to Fig. 1 to Fig. 2, Fig. 1 and Fig. 2 shows the remote-controlled machine that an embodiment of the present utility model provides People 100, and described teleoperator 100 can be reptile robot, bio-robot etc., and it can be applied in sports robot Field, service robot field, medical instruments field etc..In the present embodiment, described teleoperator 100 includes fuselage 10 and be arranged at the mechanism loading 30 on described fuselage 10 and pedipulator 50.Described mechanism loading 30 is used for realizing described remote control The additional function of robot 100.Described pedipulator 50 for providing support, walk, climbing to move for described teleoperator 100 Power.

In the present embodiment, described fuselage 10 substantially massive base, it is used for carrying described mechanism loading 30, is used in combination In the electronic component housing described teleoperator 100, such as controller, sensor etc..

Described mechanism loading 30 is arranged on described fuselage 10, and can relatively described fuselage 10 move, or relatively described Fuselage 10 is fixing.In the present embodiment, described teleoperator 100 is provided with wireless transport module, for receiving telecommand； Described mechanism loading 30 is gun turret, and it can launch laser beam of BB bullet or collimation etc..It is appreciated that in other embodiment party In formula, the type of described mechanism loading 30 can be actually needed setting, for example, when described according to described teleoperator 100 When teleoperator 100 is service humanoid robot, described mechanism loading 30 can be human-computer interaction device；When described remote-controlled machine When people 100 is Medical Robot, described mechanism loading 30 can be mechanical arm or sensing device etc..Certainly, at some In embodiment, described mechanism loading 30 can also omit, and directly realizes described teleoperator by described fuselage 10 100 additional function.

Described pedipulator 50 is movably connected on described fuselage 10, and deviates from described load machine positioned at described fuselage 10 The side of structure 30.Described pedipulator 50 is used for supporting described fuselage 10, and drives described fuselage 10 and described mechanism loading 30 row Walk, climb, or the other task of execution.In the present embodiment, the quantity of described pedipulator 50 is eight, described in eight Pedipulator 50 is divided into two groups, and symmetrically shape is arranged on the opposite sides portion of described fuselage 10, with to institute to pedipulator 50 described in two groups Stating fuselage 10 provides symmetrical support force so that the overall gravitational equilibrium of described teleoperator 100 and operating steadily.Can manage Solution, in other implementations, described pedipulator 50 can also be other quantity, and for example, described pedipulator 50 can be one Individual, two, three, four, five ... etc..

Refer to Fig. 3, described pedipulator 50 includes the first joint 52, second joint 54 and the 3rd joint 56, described One joint 52, described second joint 54 and described 3rd joint 56 are sequentially connected.Specifically, described first joint 52 can turn It is connected to described fuselage 10, described second joint 54 is rotatably connected at described first joint 52, described 3rd joint dynamicly 56 are rotatably connected at described second joint 54.

When described first joint 52 rotates with respect to described fuselage 10, described 3rd joint 56 can be adjusted in the horizontal direction On position, thus adjusting described pedipulator 50 position in the horizontal direction.Therefore, by controlling described first joint 52 phase The angle rotating for described fuselage 10, can control step-length and the direction of the movement of described pedipulator 50.

In the present embodiment, the rotating shaft that described first joint 52 rotates with respect to described fuselage 10, is basically parallel to institute State the vertical central shaft setting of fuselage 10, the angle that described first joint 52 rotates with respect to described fuselage 10 is less than or equal to 180 degree.

It is appreciated that in other implementations, the rotating shaft that described first joint 52 rotates with respect to described fuselage 10 Setting angle and set-up mode, can be arranged according to described being actually needed of teleoperator 100, for example, described The rotating shaft that one joint 52 rotates with respect to described fuselage 10 can be with respect to the vertical inclined setting of described fuselage 10.Class As, angular range that described first joint 52 rotates with respect to described fuselage 10 is it is also possible to according to described teleoperator 100 Be actually needed and arrange, for example, the angle that described first joint 52 rotates with respect to described fuselage 10 can be less than or equal to 150 degree, less than or equal to 100 degree, be less than or equal to 90 etc..

Described second joint 54 relative to described first joint 52 rotate when, can adjust described 3rd joint 56 vertically side To position, thus adjusting described pedipulator 50 in the position of vertical direction.Therefore, by controlling described second joint 54 relatively The angle rotating in described first joint 52, can control the height that described pedipulator 50 is climbed/lifted.

In the present embodiment, the rotating shaft that described second joint 54 rotates with respect to described first joint 52, substantially vertical Vertical central shaft setting in described fuselage 10.Concrete in the illustrated embodiment, described second joint 54 is with respect to described The rotating shaft that first joint 52 rotates, is basically perpendicular to described first joint 52 and arranges relative to the rotating shaft that described fuselage 10 rotates.Institute State second joint 54 and be less than or equal to 100 degree with respect to the angle that described first joint 52 rotates.

It is appreciated that in other implementations, described second joint 54 rotates with respect to described first joint 52 The setting angle of rotating shaft and set-up mode, can be arranged according to described being actually needed of teleoperator 100.For example, institute State second joint 54 to incline with respect to the vertical central shaft of described fuselage 10 with respect to the rotating shaft that described first joint 52 rotates Tiltedly arrange；Or, the rotating shaft that described second joint 54 rotates with respect to described first joint 52, can be with respect to the described first pass Section 52 is arranged relative to the axes of rotation skew that described fuselage 10 rotates.Similarly, described second joint 54 is with respect to described first joint It is also possible to be arranged according to described being actually needed of teleoperator 100, for example, described second closes the angular range of 52 rotations Section 54 with respect to described first joint 52 rotate angle can less than or equal to 180 degree, less than or equal to 150 degree, be less than or Equal to 90 etc..

When described 3rd joint 56 rotates with respect to described second joint 54, when can adjust described 3rd joint 56 landing Angle, thus adjusting angle when described pedipulator 50 lands.Therefore, by controlling described 3rd joint 56 with respect to described The angle that second joint 54 rotates, can control the angle that described pedipulator 50 is climbed/lifted.

In the present embodiment, the rotating shaft that described 3rd joint 56 rotates with respect to described second joint 54, substantially parallel The rotating shaft rotating with respect to described first joint 52 in described second joint 54, described 3rd joint 56 is with respect to the described second pass The angle of section 54 rotation is less than or equal to 100 degree.

It is appreciated that in other implementations, described 3rd joint 56 rotates with respect to described second joint 54 The setting angle of rotating shaft and set-up mode, can be arranged according to described being actually needed of teleoperator 100.For example, institute State the rotating shaft that the 3rd joint 56 rotates with respect to described second joint 54, can incline with respect to the vertical central shaft of described fuselage 10 Tiltedly arrange；Or, the rotating shaft that described 3rd joint 56 rotates with respect to described second joint 54, can be with respect to the described second pass Section 54 is arranged relative to the axes of rotation skew that described fuselage 10 rotates.Similarly, described 3rd joint 56 is with respect to described second joint 54 rotation angular ranges it is also possible to be arranged according to described being actually needed of teleoperator 100, for example, described SAN GUAN Section 56 with respect to described second joint 54 rotate angle can less than or equal to 180 degree, less than or equal to 150 degree, be less than or Equal to 90 etc..

Please refer to Fig. 3 to Fig. 6, specifically in the embodiments illustrated in the figures, described first joint 52 includes actively driving Moving part 521 and master arm 523.Described active drive part 521 is arranged on described fuselage 10.Described master arm 523 and described master Dynamic actuator 521 is connected.

In the present embodiment, described active drive part 521 is rotary drive, and it is used for driving described master arm 523 Rotate, thus driving, described pedipulator 50 is overall to be rotated relative to described fuselage 10.It is provided with switching on described active drive part 521 Portion's (in figure does not mark), described active drive part 521 is installed on described fuselage 10 by described switching part.Specifically, described Active drive part 521 is electric rotating machine, and it includes stator (in figure does not mark) and rotor (in figure does not mark).Described stator is fixed On described fuselage 10, described rotor is rotatably connected with described stator.Described master arm 523 is connected on described rotor, institute Stating rotor can drive described master arm 523 to rotate relative to described fuselage 10, so that the relatively described machine in described first joint 52 Body 10 rotates.

Described master arm 523 is used for installing described second joint 54.Described active drive part 521 drives described master arm 523 rotate when, the axis that described master arm 523 rotates relative to described fuselage 10, be basically parallel to described fuselage 10 vertical in Heart axle is arranged.When described teleoperator 100 runs on approximate horizontal working space, the rotary shaft of described master arm 523 Line is arranged substantially in the vertical direction.

Described second joint 54 is movably disposed on described master arm 523.Specifically in the illustrated embodiment, institute State second joint 54 and include driven actuator 541, the first transmission component 543 and slave arm 545.Described driven actuator 541 It is arranged on described master arm 523.Described first transmission component 543 is connected to described driven actuator 541.Described slave arm 545 are connected to described first transmission component 543.

In the present embodiment, described driven actuator 541 is rotary drive, specifically, described driven actuator 541 For electric rotating machine.Described driven actuator 541 is arranged on described master arm 523, and relatively described master arm 523 is fixing.Institute State driven actuator 541 to be used for driving described first transmission component 543 to move, to drive the relatively described master of described slave arm 545 Swing arm 523 rotates, so that described second joint 54 rotates relative to described first joint 52.

In the present embodiment, described first transmission component 543 is screw mechanism.Specifically, described first transmission component 543 include screw mandrel 5431 and are sheathed on the nut 5433 on described screw mandrel 5431.Described screw mandrel 5431 passes through universal joint 5435 It is connected to the drive shaft of described driven actuator 541, described nut 5433 is meshed with described screw mandrel 5431.Described driven driving Part 541 can drive described screw mandrel 5431 to rotate, to drive described nut 5433 mobile.Described nut 5433 and described screw mandrel Engaging structure between 5431, constitutes the engaging backing stop structure of described first transmission component 543.When described driven actuator 541 During cut-off power, for example, during described driven actuator 541 power-off, described engaging backing stop structure is prevented from the first transmission group Part 543 continues transmission, i.e. after the screw thread of nut 5433 is engaged with the screw thread of screw mandrel 5431, so that described nut 5433 is difficult to automatically Move relative to described screw mandrel 5431 so that described first transmission component 543 still is able to keep the support to described slave arm 545 Power, thus avoid described second joint 54 because being cut off power and weak and limp situation.

Described slave arm 545 is rotatablely arranged on described master arm 523, and rotatably connects with described nut 5433 Connect.Specifically, described slave arm 545 is articulated on described master arm 523 by pivot 5451, and described slave arm 545 passes through to turn Axle 5453 is rotatably coupled with described nut 5433.When described driven actuator 541 drives described screw mandrel 5431 to rotate, institute Stating nut 5433 can be mobile along described screw mandrel 5431, thus driving described slave arm 545 523 turns of described master arm relatively Dynamic, so that described second joint 54 entirety is rotated relative to described first joint 52.Described driven actuator 541 passes through described first When transmission component 543 drives described slave arm 545 to rotate, the axis that described slave arm 545 rotates relative to described master arm 523, It is approximately perpendicular to the axis that described master arm 523 rotates relative to described fuselage 10.When described teleoperator 100 runs on substantially During the working space of level, the pivot center of described slave arm 545 is arranged generally in a horizontal direction.

Described 3rd joint 56 is movably disposed on described slave arm 545.In the present embodiment, described SAN GUAN The structure of section 56 is roughly the same with the structure of described second joint 54.Specifically in the illustrated embodiment, described 3rd joint 56 include executing actuator 561, the second transmission component 563 and execution arm 565, and described execution actuator 561 is arranged on described On slave arm 545, described second transmission component 563 is connected to described execution actuator 561, and described execution arm 565 is connected to institute State the second transmission component 563.

In the present embodiment, described execution actuator 561 is rotary drive, specifically, described execution actuator 561 For electric rotating machine.Described execution actuator 561 is arranged on described slave arm 545, and relatively described slave arm 545 is fixing.Institute State execution actuator 561 be used for driving described second transmission component 563 to move, with drive described execution arm 565 relatively described from Swing arm 545 rotates, so that described 3rd joint 56 rotates relative to described second joint 54.

In the present embodiment, described second transmission component 563 is screw mechanism.Specifically, described second transmission component 563 include screw mandrel 5631 and are sheathed on the nut 5633 on described screw mandrel 5631.Described screw mandrel 5631 passes through universal joint 5635 It is connected to the drive shaft of described execution actuator 561, described nut 5633 is meshed with described screw mandrel 5631.Described execute driving Part 561 can drive described screw mandrel 5631 to rotate, to drive described nut 5633 mobile.Described nut 5633 and described screw mandrel Engaging structure between 5631, constitutes the engaging backing stop structure of described second transmission component 563.When described execution actuator 561 During cut-off power, for example, during described execution actuator 561 power-off, described engaging backing stop structure is prevented from the second transmission group Part 563 continues transmission, i.e. after the screw thread of nut 5633 is engaged with the screw thread of screw mandrel 5631, so that described nut 5633 is difficult to automatically Move relative to described screw mandrel 5631 so that described second transmission component 563 still is able to keep the support to described execution arm 565 Power, thus avoid described 3rd joint 56 because being cut off power and weak and limp situation.

Described execution arm 565 is rotatablely arranged on described slave arm 545, and rotatably connects with described nut 5633 Connect.Specifically, described execution arm 565 is articulated on described slave arm 545 by pivot 5651, and described execution arm 565 passes through to turn Axle 5653 is rotatably coupled with described nut 5633.When described execution actuator 561 drives described screw mandrel 5631 to rotate, institute Stating nut 5633 can be mobile along described screw mandrel 5631, thus driving described execution arm 565 545 turns of described slave arm relatively Dynamic, so that described 3rd joint 56 entirety is rotated relative to described second joint 54.Described execution actuator 561 passes by described second When dynamic assembly 563 drives described execution arm 565 to rotate, the axis that described execution arm 565 rotates relative to described slave arm 545, greatly Cause the axis described master arm 523 being rotated parallel to described slave arm 545.When described teleoperator 100 runs on substantially During the working space of level, the pivot center of described execution arm 565 is arranged generally in a horizontal direction.

Further, described teleoperator 100 also includes the leg 58 being arranged on described 3rd joint 56, described The support when landing for the pedipulator 50 as described teleoperator 100 for the foot 58.Described leg 58 include dampening assembly 581 with And feeler 583, described dampening assembly 581 be arranged at described execution arm 565 on, described feeler 583 is held in described dampening assembly On 581, described feeler 583 and described dampening assembly 581 are used for for described teleoperator 100 being supported in field of employment, and Damping is carried out to the walking of described teleoperator 100, climbing.

Specifically in the illustrated embodiment, described dampening assembly 581 includes fixture 5811, installing part 5813, elasticity Part 5815 and movable part 5817.Described fixture 5811 is fixed on described execution arm 565, and described installing part 5813 is arranged at On described fixture 5811, described elastic component 5815 is movably disposed on described installing part 5813.Described movable part 5817 Movably it is held on described elastic component 5815, and is used for abutting described feeler 583, make described dampening assembly 581 described Formed between 3rd joint 56 and described feeler 583 and flexibly support effect, thus realizing described teleoperator 100 when walking Damping.

Specifically, in the present embodiment, described fixture 5811 is two, and two described fixtures 5811 are to each other Every be arranged on described execution arm 565 on.Described installing part 5813 substantially be in shaft-like, its be arranged on two described fixtures 5811 it Between, and described installing part 5813 two ends be connected on two described fixtures 5811.Described movable part 5817 is movable Be sheathed on described installing part 5813 on, described movable part 5817 is used for installing described feeler 583.Described elastic component 5815 can be lived It is arranged on described installing part 5813 dynamicly, and be held between described fixture 5811 and described movable part 5817.In this reality Apply in mode, described elastic component 5815 is two groups, and elastic component 5815 described in two groups is separately positioned on the two of described movable part 5817 Side, and the two ends of elastic component 5815 described in every group support respectively on described fixture 5811 and described movable part 5817, thus Realize the bidirectional damping of described pedipulator 50.

Described feeler 583 is connected on described movable part 5817, and it is used for for described teleoperator 100 being supported in use Place.Sensor (not shown) is provided with described feeler 583, whether described sensor is used for sensing described feeler 583 Land.Described sensor can be pressure transducer, range sensor, vision sensor etc..

Above-mentioned teleoperator 100, the first joint 52 of its pedipulator 50 is as active joint, second joint 54 conduct , as execution joint, described active joint drives described execution joint by described driven joint for driven joint, the 3rd joint 56 Motion, thus realize the function such as stand, walk, climbing of described teleoperator 100.Due to described second joint 54 first Transmission component 543 has above-mentioned engaging backing stop structure, and described engaging backing stop structure is enough for giving described slave arm 545 Support force, and make described first transmission component 543 be able to maintain that current drive state in the case of cut-off power, thus Described pedipulator is enable to keep current running status, it is to avoid described teleoperator 100 is weak and limp because of cut-off power Situation.Similarly, because second transmission component 563 in described 3rd joint 56 has above-mentioned engaging backing stop structure, make institute State the second transmission component 563 and be able to maintain that current drive state in the case of cut-off power, it is to avoid described remote control machine Device people 100 weak and limp situation because of cut-off power.

It is understood that above-mentioned teleoperator 100, can only have above-mentioned second joint 54 or the 3rd joint Any one of 56, to realize the function such as stand, walk, climbing of described teleoperator 100；Even, described remote-controlled machine The pedipulator 50 of people 100, it is convenient to omit described first joint 52, and described second joint 54 is directly installed in described fuselage 10 On, and give described pedipulator 50 enough support forces by the first transmission component 543 of described second joint 54, make described machine Tool lower limb 50 is able to maintain that current drive state in the case of cut-off power.

It is understood that described first transmission component 543 can be the drive mechanism in addition to screw mechanism, and make institute State the first transmission component 543 and there is engaging backing stop structure, so that described first transmission component 543 is in the situation of cut-off power Under be able to maintain that current drive state.

For example, described first transmission component 543 can be worm-and-wheel gear.Specifically, described first transmission component 543 can include worm screw and the worm gear being meshed with described worm screw.Described worm screw is connected to the driving of described driven actuator 541 Axle, described slave arm 545 is arranged on described worm gear.Described driven actuator 541 can drive described worm screw to rotate, to drive Described worm gear wheel, thus drive described slave arm 545 to rotate.Described engaging backing stop structure is described worm gear and described worm screw Engaging structure, thus, when described driven actuator 541 is cut off power, described engaging backing stop structure is prevented from described snail Wheel rotates relative to described worm screw, and described first transmission component 543 still is able to keep the support force to described slave arm 545, thus Avoid described second joint 54 because being cut off power and weak and limp situation.

Or, described first transmission component 543 can be linear electric motors.Specifically, described first transmission component 543 can The slide block be adapted with inclusion guide rail and with described guide rail, now, described driven actuator 541 can omit.On described guide rail It is provided with switching part, described guide rail is installed on described fuselage 10 by described switching part.Described guide rail is rotatably connected at Described master arm 523, described slide block is slidably disposed on described guide rail.Described slave arm 545 and described master arm 523 phase While pivot joint, it is rotatably connected on described slide block.When the relatively described slide of the described slide block of described linear electric motors When, described slide block can drive the relatively described master arm 523 of described slave arm 545 to move.Wherein, described guide rail can pass through ten thousand Xiang Jie, ball pivot or pivot etc. are rotatably connected on described master arm 523.Described engaging backing stop structure is described straight line The self-locking structure of motor internal, thus, when described driven actuator 541 is cut off power, described engaging backing stop structure can Prevent described slide block from moving relative to described guide rail, described first transmission component 543 still is able to keep propping up to described slave arm 545 Support force, thus avoid described second joint 54 because being cut off power and weak and limp situation.

And for example, described first transmission component 543 can be the combination of electric expansion cylinder and retaining part.Concrete and Speech, described first transmission component 543 can include electric expansion cylinder and retaining part, and now, described driven actuator 541 can To omit.Described electric expansion cylinder includes cylinder body and the expansion link being slidably matched with described cylinder body, and described expansion link can be with Described retaining part fastens or is separated.Described cylinder body is rotatably connected at described master arm 523, described slave arm 545 While being articulated with described master arm 523, it is rotatably connected on described expansion link.When described expansion link is with respect to described When cylinder body slides, described expansion link can drive the relatively described master arm 523 of described slave arm 545 to move.Wherein, described cylinder body Can be rotatably connected on described master arm 523 by universal joint, ball pivot or pivot etc..Described engaging backing stop structure be Described electric expansion cylinder and the snap-in structure of described retaining part.Specifically, when described electric expansion cylinder is energized, described Expansion link is in contraction state, and now expansion link is separated with corresponding retaining part；When described electric expansion cylinder power-off When, described expansion link under self gravitation effect, auto-extending and be in original state, and with corresponding retaining part phase Engaging.Specifically, described retaining part can be spur rack or engaging teeth groove etc..

For another example, described first transmission component 543 can be the combination of electronic rotation cylinder and retaining part.Concrete and Speech, described first transmission component 543 can include electronic rotation cylinder and retaining part, and now, described driven actuator 541 can To omit.Described electronic rotation cylinder includes swingle that cylinder body is rotatably assorted with described cylinder body and is arranged at Sohu of Soviet Union cylinder Return unit between body and described swingle, described swingle can be fastened with described retaining part or be separated.Described cylinder Body is fixedly connected to described master arm 523, and described slave arm 545 is connected on described swingle.When described swingle is relative When described cylinder body rotates, described swingle can drive the relatively described master arm 523 of described slave arm 545 to move.Described card Close the snap-in structure that backing stop structure is described electronic rotation cylinder and described retaining part.Specifically, when described electronic rotation gas During cylinder energising, described swingle is separated with corresponding retaining part；When described electronic rotation cylinder power-off, described rotation Bar is replied under described return unit acts on and is in original state, and fastens with corresponding retaining part.Specifically, institute Stating return unit can be elastic component, and described retaining part can be spur rack or engaging teeth groove etc..

Similarly, state the drive mechanism that the second transmission component 563 can also be in addition to screw mechanism, for example, be worm gear Worm mechanism, linear electric motors, telescopic cylinder, rotary cylinder etc., make described second transmission component 563 have corresponding engaging retaining Structure, so that described second transmission component 563 is able to maintain that current drive state in the case of cut-off power.

Embodiment of above only in order to the technical solution of the utility model to be described and unrestricted, although with reference to preferably real above Mode of applying has been described in detail to this utility model, it will be understood by those within the art that, can be new to this practicality The technical scheme of type is modified or equivalent should not depart from the spirit and scope of technical solutions of the utility model.This area Technical staff also can do other changes etc. in this utility model spirit and be used in design of the present utility model, without departing from this The technique effect of utility model.These changes done according to this utility model spirit, all should be included in this utility model Within the scope of claimed.

Claims (35)

1. a kind of teleoperator, including fuselage and multiple pedipulator, described pedipulator is movably disposed on described fuselage, It is characterized in that：Described pedipulator includes the slave arm and the first transmission component with the movable connection of described fuselage, and described One transmission component can drive the relatively described fuselage motion of described slave arm；Wherein, described first transmission component includes engaging and stops Move back structure, described engaging backing stop structure is used for when described first transmission component is in cut-off power, the first transmission described in locking Assembly, so that described first transmission component is able to maintain that current drive state, so that described pedipulator can keep current Running status.

2. teleoperator as claimed in claim 1 it is characterised in that：Described pedipulator also includes being connected to described fuselage Driven actuator, described first transmission component is connected on described driven actuator, and described driven actuator can drive described First transmission component drives described slave arm motion.

3. teleoperator as claimed in claim 2 it is characterised in that：Described first transmission component is screw mechanism, described Driven actuator is electric rotating machine.

4. teleoperator as claimed in claim 3 it is characterised in that：Described first transmission component include screw mandrel and with described The nut that screw mandrel is meshed, described screw mandrel is connected to the drive shaft of described electric rotating machine, and described slave arm is rotatably connected at Described fuselage, and being rotatably connected on described nut, described engaging backing stop structure is nibbling of described screw mandrel and described nut Close structure.

5. teleoperator as claimed in claim 4 it is characterised in that：Described screw mandrel is connected to described rotation by universal joint The drive shaft of motor；

And/or, described nut is rotatably connected with described slave arm by rotating shaft.

6. teleoperator as claimed in claim 2 it is characterised in that：Described first transmission component is worm-and-wheel gear, Described driven actuator is electric rotating machine.

7. teleoperator as claimed in claim 6 it is characterised in that：Described first transmission component include worm screw and with described The worm gear that worm screw is meshed, described worm screw is connected to the drive shaft of described electric rotating machine, and described slave arm is connected to described worm gear On, described engaging backing stop structure is described worm gear and the engaging structure of described worm screw.

8. teleoperator as claimed in claim 2 it is characterised in that：Described pedipulator also includes master arm, described active Arm is rotatably connected at described fuselage, and described driven actuator is arranged on described master arm, and described slave arm is rotationally It is connected on described master arm, to be connected with described fuselage.

9. teleoperator as claimed in claim 8 it is characterised in that：Described pedipulator also includes being fixed on described fuselage Active drive part and switching part, described switching part is arranged on described active drive part；Described master arm is connected to described master Dynamic actuator, described active drive part can drive described master arm to rotate relative to described fuselage, to drive described pedipulator whole Body phase rotates to described fuselage.

10. teleoperator as claimed in claim 9 it is characterised in that：Described active drive part is rotary drive, described Rotary drive can drive described pedipulator integrally to rotate relative to described fuselage, to change described machinery by described master arm Lower limb position in the horizontal direction.

11. teleoperators as claimed in claim 10 it is characterised in that：Described active drive part passes through to control described machinery The angle that lower limb rotates relative to described fuselage, controls the step-length of described pedipulator movement；

And/or, described active drive part drives the rotating shaft that described pedipulator rotates to be basically parallel to the vertical center of described fuselage Axle is arranged；

And/or, described pedipulator is less than or equal to 180 degree relative to the angle that described fuselage rotates.

12. teleoperators as claimed in claim 9 it is characterised in that：Described driven actuator can pass through described first Transmission component drives described slave arm to rotate relative to described master arm, to change the position in vertical direction for the described pedipulator.

13. teleoperators as claimed in claim 12 it is characterised in that：It is described driven that described driven actuator passes through control The angle that arm rotates relative to described master arm, controls the height of described pedipulator climbing；

And/or, described driven actuator drives the rotating shaft that described slave arm rotates relative to described master arm, is basically perpendicular to described The vertical central shaft setting of fuselage；

And/or, described slave arm is less than or equal to 100 degree relative to the rotational angle that described master arm rotates.

14. teleoperators as claimed in claim 2 it is characterised in that：Described teleoperator also includes executing joint, institute State execution joint to be arranged on described slave arm, described slave arm can drive described execution joint motions.

15. teleoperators as claimed in claim 14 it is characterised in that：Also include the execution being arranged on described slave arm Actuator and be connected to execution arm on described execution actuator, described execution actuator is used for driving described execution arm relatively Described slave arm rotates.

16. teleoperators as claimed in claim 15 it is characterised in that：Described execution actuator passes through to drive described execution Arm rotates relative to described slave arm, can adjust the angle when landing for the described pedipulator.

17. teleoperators as claimed in claim 16 it is characterised in that：Described execution actuator passes through to control described execution The angle that arm rotates relative to described slave arm, controls the angle of described pedipulator climbing；

And/or, the rotating shaft that described execution arm rotates relative to described slave arm, the vertical central shaft being basically perpendicular to described fuselage sets Put；

And/or, described execution arm is less than or equal to 100 degree relative to the angle that described slave arm rotates.

18. teleoperators as claimed in claim 15 it is characterised in that：Also include the second transmission component, by described Two driving members can drive described second transmission component to drive described execution arm to move with respect to described slave arm, described second biography Dynamic assembly includes engaging backing stop structure, so that described slave arm is in cut-off power, described execution joint can keep current Running status.

19. teleoperators as claimed in claim 18 it is characterised in that：Described second transmission component is screw mechanism, institute Stating execution actuator is electric rotating machine.

20. teleoperators as claimed in claim 19 it is characterised in that：Described second transmission component include screw mandrel and with institute State the nut that screw mandrel is meshed, described screw mandrel is connected to the drive shaft of described electric rotating machine, described execution arm is rotatably coupled In described slave arm, and it is rotatably connected on described nut, the described engaging backing stop structure of described second driving member is institute State screw mandrel and the engaging structure of described nut.

21. teleoperators as claimed in claim 20 it is characterised in that：Described screw mandrel is connected to described rotation by universal joint The drive shaft of rotating motor；

And/or, described nut is rotatably connected with described execution arm by rotating shaft.

22. teleoperators as claimed in claim 18 it is characterised in that：Described second transmission component is worm and gear machine Structure, described execution actuator is electric rotating machine.

23. teleoperators as claimed in claim 22 it is characterised in that：Described second transmission component include worm screw and with institute State the worm gear that worm screw is meshed, described worm screw is connected to the drive shaft of described electric rotating machine, described execution arm is connected to described snail On wheel, the described engaging backing stop structure of described second driving member is described worm gear and the engaging structure of described worm screw.

24. teleoperators as claimed in claim 14 it is characterised in that：Described pedipulator also includes being arranged at described execution Dampening assembly on joint, described dampening assembly is used for carrying out damping to described teleoperator.

25. teleoperators as claimed in claim 24 it is characterised in that：Described pedipulator also includes being connected to described damping Feeler on assembly, described feeler is used for for described teleoperator being supported in field of employment.

26. teleoperators as claimed in claim 25 it is characterised in that：Described dampening assembly is held described in including being connected to Installing part and being arranged at the described elastic component installed on part on row joint, described feeler is held on described elastic component.

27. teleoperators as claimed in claim 26 it is characterised in that：Described dampening assembly is held described in also including being arranged at Fixture on row joint, described installing part is fixedly connected with described fixture, described elastic component be held in described fixture with Between described feeler.

28. teleoperators as claimed in claim 27 it is characterised in that：Described dampening assembly also includes movably arranging Movable part on described installing part, one end of described elastic component is held on described fixture, and the other end is held in described work On moving part, described feeler is connected on described movable part.

29. teleoperators as claimed in claim 28 it is characterised in that：Described fixture and described elastic component are two Group, fixture described in two groups is intervally installed on described execution joint, and described installing part is arranged at fixture described in two groups Between, elastic component described in two groups is separately positioned on the both sides of described movable part, to realize the bidirectional damping of described teleoperator.

30. teleoperators as claimed in claim 25 it is characterised in that：It is provided with sensor, described biography on described feeler Sensor is used for sensing whether described feeler lands.

31. teleoperators as claimed in claim 30 it is characterised in that：Described sensor be following several in arbitrary Kind：Pressure transducer, range sensor, vision sensor.

32. teleoperators as claimed in claim 1 it is characterised in that：Described first transmission component is linear electric motors, described Linear electric motors include slide block and the switching part that guide rail is adapted with described guide rail, and described switching part is arranged on described guide rail, institute State guide rail to be rotatably connected on described fuselage by described switching part, described slave arm is rotatably connected at described machine Body, and be rotatably connected on described slide block.

33. teleoperators as claimed in claim 32 it is characterised in that：Described guide rail passes through universal joint, ball pivot or pivot Axle is connected on described fuselage.

34. teleoperators as claimed in claim 1 it is characterised in that：Described teleoperator also includes movably setting It is placed in the mechanism loading on described fuselage, described mechanism loading is used for realizing the additional function of described teleoperator.

35. teleoperators as claimed in claim 1 it is characterised in that：Described engaging backing stop structure is electronic self-locking mechanism Or mechanical automatic locking mechanism.