CN206255103U - A kind of new-type electromagnetism spring bio-robot - Google Patents
A kind of new-type electromagnetism spring bio-robot Download PDFInfo
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- CN206255103U CN206255103U CN201621284707.0U CN201621284707U CN206255103U CN 206255103 U CN206255103 U CN 206255103U CN 201621284707 U CN201621284707 U CN 201621284707U CN 206255103 U CN206255103 U CN 206255103U
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- main body
- pipe
- restriction plate
- electromagnet
- trunk main
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Abstract
The utility model discloses a kind of new-type electromagnetism spring bio-robot, it includes robot trunk main body, spring leg main body, robot trunk main body includes trunk main body base plate, top link, trunk main body connecting circular tube, leg main body installs pipe, spring leg main body includes bounce limiter, upper end electromagnet, lower end electromagnet, upper end activity pipe, lower end activity pipe, upper end damping spring, lower end damping spring, bounce limiter includes upper end restriction plate, lower end restriction plate, middle brace rod, pipe upper end is installed with respective leg portions main body and is connected in upper end activity pipe upper end, lower margin is grabbed in lower end activity pipe bottom installing；Trunk main body base plate installing singlechip controller, lithium battery, singlechip controller set wireless control module.The utility model novel in structural design and can efficiently against existing robot complicated landform operation limitation, it can jump over and be several times as much as the barrier or irrigation canals and ditches of oneself height, strong adaptability.
Description
Technical field
The utility model is related to robotics, more particularly to a kind of new-type electromagnetism spring bio-robot.
Background technology
With scientific and technical constantly progress, intelligent automation technology is just widely used in daily life
In；Used as the representative of intelligent automation technology, robot technology obtains high speed development, and robot is just gradually widely used
In fields such as various complicated terrain detections, disaster relief, goods and materials conveyings.
The robot product of existence form various kinds in the prior art；However, for existing robot product, in reality
In the application process of border, all-wheel drive, creep or walking robot cannot cross over higher than oneself height barrier or irrigation canals and ditches,
And unmanned plane cannot the operation in narrow space, such as the tunnel etc. after caving in, range of application is very limited, and this is just to detection
Pick-up operation causes greatly puzzlement.
Utility model content
The purpose of this utility model is in view of the shortcomings of the prior art and provides a kind of new-type electromagnetism spring bionic machine
People, new-type electromagnetism spring bio-robot novel in structural design and can make efficiently against existing robot in complicated landform
The limitation of industry, it can jump over and be several times as much as the barrier or irrigation canals and ditches of oneself height, that is, can adapt to various complicated landform simultaneously
Realize disaster relief, the goods and materials conveying under various terrain environments.
To reach above-mentioned purpose, the utility model is achieved through the following technical solutions.
A kind of new-type electromagnetism spring bio-robot, circumferentially ring-type is uniform to include robot trunk main body and four
The spring leg main body being spaced apart, robot trunk main body include in horizontal cross arrange trunk main body base plate, be located at
The top link of trunk main body base plate upper end side, is equiped with four circumferentially rings between trunk main body base plate and top link
The trunk main body connecting circular tube of shape uniform intervals distribution, the upper end of each trunk main body connecting circular tube connects with top link respectively
Connect, the bottom of each trunk main body connecting circular tube is connected with trunk main body base plate respectively, the upper end of each trunk main body connecting circular tube
Portion is equiped with the leg main body installation pipe that an inclination extends upward respectively, and four leg main bodys install pipe, and circumferentially ring-type is equal
Even to be spaced apart, the upper end that each leg main body installs pipe is equiped with a spring leg main body respectively；
Spring leg main body includes the upper end electromagnet of bounce limiter and mutual cooperation, under the electromagnet of upper end
The lower end electromagnet of side, the upper end of upper end electromagnet is equiped with towards the upper end activity pipe for protruding above extension, lower end electromagnetism
The bottom of iron is equiped with protrusion down and extends and the lower end activity pipe coaxially arranged with upper end activity pipe, bounce limiter
Include upper end restriction plate, positioned at upper end restriction plate lower end side and the lower end restriction plate arranged with upper end restriction plate parallel interval,
Middle brace rod, upper end and the upper end restriction plate spiral shell of middle brace rod are provided between upper end restriction plate and lower end restriction plate
Connect, bottom and the lower end restriction plate of middle brace rod are spirally connected, upper end electromagnet, lower end electromagnet are located at upper end restriction plate with
Between the restriction plate of end, the upper end of upper end activity pipe passes through upper end restriction plate and extends to the upper end side of upper end restriction plate, under
The bottom of end activity pipe passes through lower end restriction plate and extends to the lower end side of lower end restriction plate, the periphery of upper end activity pipe
Upper end damping spring is set with, the periphery of lower end activity pipe is set with lower end damping spring, the upper end of upper end damping spring
Abutted with upper end restriction plate, the bottom of upper end damping spring abuts with upper end electromagnet, the upper end of lower end damping spring with
Lower end electromagnet is abutted, and the bottom of lower end damping spring abuts with lower end restriction plate, the upper end of the movable pipe in upper end and phase
The upper end that the leg main body answered installs pipe connects, and the bottom of lower end activity pipe is equiped with grabs lower margin；
Trunk main body base plate is equiped with singlechip controller, lithium battery, and singlechip controller is provided with wireless control module,
Lithium battery, wireless control module, each upper end electromagnet and each lower end electromagnet are electrically connected with singlechip controller respectively.
Wherein, each trunk main body connecting circular tube of the trunk main body base plate correspondence is screwed with the first contiguous block respectively,
The bottom of each trunk main body connecting circular tube is spirally connected with corresponding first contiguous block respectively, the upper end of each driving main body connecting circular tube
Portion is spirally connected with top link respectively.
Wherein, the upper end of each trunk main body connecting circular tube is screwed with the second contiguous block, each leg main body peace respectively
The bottom for filling pipe is spirally connected with corresponding second contiguous block respectively.
Wherein, the upper end that each leg main body installs pipe is screwed with the 3rd contiguous block, each upper end activity circle respectively
The upper end of pipe is spirally connected with corresponding 3rd contiguous block respectively.
Wherein, the bottom of each lower end activity pipe is screwed with the 4th contiguous block respectively, respectively grabs lower margin difference spiral shell dress
In corresponding 4th contiguous block.
Wherein, the trunk main body connecting circular tube, the leg main body install pipe, upper end activity pipe, described
Lower end activity pipe is respectively tube and pipe of aluminium alloy.
The beneficial effects of the utility model are：A kind of new-type electromagnetism spring bio-robot described in the utility model, its
Including robot trunk main body, four spring leg main bodys that circumferentially ring-type uniform intervals are distributed, robot trunk main body bag
Include trunk main body base plate, top link, four trunk main body connecting circular tubes that circumferentially ring-type uniform intervals are distributed, each trunk
Main body connecting circular tube upper end is installed a leg main body and installs pipe respectively, and each leg main body is installed pipe upper end and installed respectively
One spring leg main body；Spring leg main body include bounce limiter, upper end electromagnet, lower end electromagnet, upper end activity pipe,
Lower end activity pipe, upper end damping spring, lower end damping spring, bounce limiter include upper end restriction plate, lower end restriction plate, in
Between connecting rod, upper end activity pipe upper end and respective leg portions main body install pipe upper end and be connected, the movable pipe lower end in lower end
Lower margin is grabbed in portion's installing；Trunk main body base plate installing singlechip controller, lithium battery, singlechip controller set wireless controlled molding
Block.By said structure design, the utility model novel in structural design and can be efficiently against existing robot intricately
The limitation of shape operation, it can jump over and be several times as much as the barrier or irrigation canals and ditches of oneself height, that is, can adapt to it is various intricately
Shape simultaneously realizes the disaster relief under various terrain environments, goods and materials conveying.
Brief description of the drawings
The utility model is further detailed below with accompanying drawing, but the embodiment in accompanying drawing do not constitute it is right
Any limitation of the present utility model.
Fig. 1 is structural representation of the present utility model.
Fig. 2 is decomposing schematic representation of the present utility model.
Fig. 3 is the structural representation of robot trunk main body of the present utility model.
Fig. 4 is the structural representation of spring leg of the present utility model main body.
Included in Fig. 1 to Fig. 4：
1 --- robot trunk main body 11 --- trunk main body base plate
12 --- top link 13 --- trunk main body connecting circular tubes
14 --- leg main body installs pipe 2 --- spring leg main bodys
21 --- bounce limiter 211 --- upper end restriction plates
212 --- lower end restriction plate 213 --- middle brace rods
221 --- upper end electromagnet 222 --- lower end electromagnet
231 --- upper end activity pipe 232 --- lower end activity pipes
241 --- upper end damping spring 242 --- lower end damping springs
3 --- grabbing lower margin 41 --- first contiguous blocks
42 --- the second contiguous block 43 --- the 3rd contiguous blocks
44 --- the 4th contiguous block.
Specific embodiment
The utility model is illustrated with reference to specific embodiment.
As shown in Figures 1 to 4, a kind of new-type electromagnetism spring bio-robot, includes robot trunk main body 1 and four
The spring leg main body 2 of individual circumferentially ring-type uniform intervals distribution, robot trunk main body 1 includes what is arranged in horizontal cross
Trunk main body base plate 11, the top link 12 positioned at the upper end side of trunk main body base plate 11, trunk main body base plate 11 connect with top
Four trunk main body connecting circular tubes 13 that circumferentially ring-type uniform intervals are distributed, each trunk main body connection are equiped between fitting 12
The upper end of pipe 13 is connected with top link 12 respectively, the bottom of each trunk main body connecting circular tube 13 respectively with trunk master
Body base plate 11 is connected, and the upper end of each trunk main body connecting circular tube 13 is equiped with the leg main body peace that an inclination extends upward respectively
Dress pipe 14, four leg main bodys install the circumferentially ring-type uniform intervals distribution of pipe 14, and each leg main body installs pipe 14
Upper end is equiped with a spring leg main body 2 respectively.
Further, spring leg main body 2 include bounce limiter 21 and cooperate upper end electromagnet 221,
Positioned at the lower end electromagnet 222 of the lower end side of upper end electromagnet 221, the upper end of upper end electromagnet 221 is equiped with court and protrudes above prolongs
The upper end activity pipe 231 stretched, the bottom of lower end electromagnet 222 be equiped with protrusion down extend and with upper end activity pipe
231 coaxially arranged lower ends activity pipes 232, bounce limiter 21 includes upper end restriction plate 211, positioned at upper end restriction plate
211 lower end sides and the lower end restriction plate 212 arranged with the parallel interval of upper end restriction plate 211, upper end restriction plate 211 are limited with lower end
Middle brace rod 213 is provided between plate 212, upper end and the upper end restriction plate 211 of middle brace rod 213 are spirally connected, and centre connects
The bottom of extension bar 213 is spirally connected with lower end restriction plate 212, and upper end electromagnet 221, lower end electromagnet 222 are located at upper end restriction plate
Between 211 and lower end restriction plate 212, the upper end of upper end activity pipe 231 passes through upper end restriction plate 211 and extends to upper end limit
The upper end side of making sheet 211, the bottom of lower end activity pipe 232 passes through lower end restriction plate 212 and extends to lower end restriction plate 212
Lower end side, the periphery of upper end activity pipe 231 is set with upper end damping spring 241, the periphery suit of lower end activity pipe 232
The upper end for having lower end damping spring 242, upper end damping spring 241 abuts with upper end restriction plate 211, upper end damping spring 241
Bottom abutted with upper end electromagnet 221, the upper end of lower end damping spring 242 abuts with lower end electromagnet 222, and lower end subtracts
The bottom for shaking spring 242 abuts with lower end restriction plate 212, the upper end of the movable pipe 231 in upper end and corresponding leg main body
The upper end connection of pipe 14 is installed, the bottom of lower end activity pipe 232 is equiped with grabs lower margin 3.
Further, trunk main body base plate 11 is equiped with singlechip controller, lithium battery, and singlechip controller is provided with
Wireless control module, lithium battery, wireless control module, each upper end electromagnet 221 and each lower end electromagnet 222 respectively with monolithic
Machine controller is electrically connected.
It should further be noted that as shown in Figures 1 to 4, each 13 points of trunk main body connecting circular tube of the correspondence of trunk main body base plate 11
Be not screwed with the first contiguous block 41, the bottom of each trunk main body connecting circular tube 13 respectively with the corresponding spiral shell of first contiguous block 41
Connect, each upper end for driving main body connecting circular tube is spirally connected with top link 12 respectively；Each trunk main body connecting circular tube 13 it is upper
End is screwed with the second contiguous block 42 respectively, each leg main body install the bottom of pipe 14 respectively with corresponding second contiguous block
42 are spirally connected；The upper end that each leg main body installs pipe 14 is screwed with the 3rd contiguous block 43 respectively, each upper end activity pipe 231
Upper end is spirally connected with corresponding 3rd contiguous block 43 respectively；The bottom of each lower end activity pipe 232 is screwed with the 4th company respectively
Block 44 is connect, lower margin 3 is respectively grabbed and is screwed on corresponding 4th contiguous block 44 respectively.
Need to be explained further, trunk main body connecting circular tube 13, leg main body install pipe 14, upper end activity pipe 231, under
End activity pipe 232 can be respectively adopted aluminum alloy materials and be prepared from, i.e., trunk main body connecting circular tube 13, leg of the present utility model
Portion's main body installs pipe 14, upper end activity pipe 231, lower end activity pipe 232 and is respectively tube and pipe of aluminium alloy.Certainly, above-mentioned gold
Category material is not constituted to limitation of the present utility model, i.e., trunk main body connecting circular tube 13, leg main body peace of the present utility model
Dress pipe 14, upper end activity pipe 231, lower end activity pipe 232 can also be prepared from using other metal materials.
During the utility model use, lithium battery is powered for singlechip controller, and singlechip controller is by wireless
Control module coordinates with Remote, and when using, user can be controlled by Remote to the utility model, that is, use
Person need not learn cumbersome programming and specific skill, and the control to robot need to be only realized by Remote.
When user's control robot is bounced, when Remote sends spring instruction to singlechip controller, root
According to the principle that the electromagnet same sex is repelled each other, singlechip controller is to upper end electromagnet 221, the logical opposite electricity of lower end electromagnet 222
Stream, and then cause that upper end electromagnet 221 is mutually exclusive with lower end electromagnet 222；Under reverse magneticaction, upper end electromagnet
221 ejections upward and the reverse movement relative with lower end electromagnet 222 of upper end electromagnet 221, the upper end electromagnet 221 for launching upward
Upper end activity pipe 231 is driven synchronously to launch upward, the upper end activity pipe 231 for launching upward installs pipe by leg main body
14 drive whole robot trunk main body 1 projectile motion upward, and then realize robot spring-like movement.
During the utility model realizes spring-like movement, bounce limiter 21 is to upper end electromagnet 221, lower end electromagnetism
Iron 222 carry out it is spacing, specifically：Upper end restriction plate 211 is spacing to upper end electromagnet 221, and lower end restriction plate 212 is to lower end electromagnetism
Iron 222 is spacing.Wherein, for upper end damping spring 241, it can be effectively prevented from upper end electromagnet 221 and be limited with upper end
The rigid collision of making sheet 211, and then play a part of elastic shock attenuation；Likewise, for lower end damping spring 242, it can be with
Lower end electromagnet 222 and the rigid collision of lower end restriction plate 212 are effectively prevented from, and then play a part of elastic shock attenuation.
Need to be explained further, as shown in Figure 1, Figure 2 and shown in Fig. 4, lower margin 3 of grabbing of the present utility model is designed to H shape；When
So, the utility model and be to limit the shape for grabbing lower margin 3, and lower margin 3 of grabbing of the present utility model can be according to landform not
With from the material with different coefficients of friction, to enable robot in different road surface operations.
For existing robot, the utility model has advantages below, specially：
1st, it is applied widely：Electromagnetism bionic hopping robot goes for all kinds of complicated landform, is particularly well-suited to
Operation is carried out in narrow and small complex environment；
2nd, it is safe and reliable：Electromagnet of the present utility model, spring all consider to use reliability；Spring can be in certain elasticity system
Freely matched in number, it is to avoid the rigid shock that electromagnet action is caused to material；Spring power comes from four groups of models and power phase
Same electromagnet, it is possible to achieve multi-party bit jitter, it is to avoid the emergency situations that the machine occurred because part is aging cannot be operated,
Ensure that machine is engaged in the reliability of long working；
3rd, operation is simple：The utility model only needs to the Milling Process of simple wire cutting and punching and just can obtain sample
Product；
4th, it is easy to maintenance：The utility model uses screw connection, and each parts are replaceable, with low cost, convenient maintenance；
5th, it is with low cost：Made using aluminium alloy, whole machine can be assembled by each parts, either makes still
Transport all extremely convenients；
6th, using simple：By carrying wireless control module, user need not learn cumbersome programming and specific skill,
The control to robot need to be only realized by Remote.
Summary is poor to be understood, by said structure design, the utility model novel in structural design and can be effectively
Overcome existing robot in the limitation of complicated landform operation, it can jump over and be several times as much as the barrier or ditch of oneself height
Canal, that is, can adapt to various complicated landform and realize the disaster relief under various terrain environments, goods and materials conveying.
Above content is only preferred embodiment of the present utility model, for one of ordinary skill in the art, according to this reality
With new thought, will change in specific embodiments and applications, this specification content should not be construed as
To limitation of the present utility model.
Claims (6)
1. a kind of new-type electromagnetism spring bio-robot, it is characterised in that：Include robot trunk main body（1）And four be in
The spring leg main body of circumference ring-type uniform intervals distribution（2）, robot trunk main body（1）Include what is arranged in horizontal cross
Trunk main body base plate（11）, positioned at trunk main body base plate（11）The top link of upper end side（12）, trunk main body base plate（11）
With top link（12）Between be equiped with four circumferentially ring-type uniform intervals distribution trunk main body connecting circular tubes（13）, respectively
Trunk main body connecting circular tube（13）Upper end respectively with top link（12）Connection, each trunk main body connecting circular tube（13）'s
Bottom respectively with trunk main body base plate（11）Connection, each trunk main body connecting circular tube（13）Upper end be equiped with one respectively and incline
The leg main body for tiltedly extending upward installs pipe（14）, four leg main bodys installation pipes（14）Circumferentially ring-type uniform intervals divide
Cloth, each leg main body installs pipe（14）Upper end be equiped with a spring leg main body respectively（2）；
Spring leg main body（2）Include bounce limiter（21）And the upper end electromagnet for cooperating（221）, positioned at upper end
Electromagnet（221）The lower end electromagnet of lower end side（222）, upper end electromagnet（221）Upper end be equiped with towards protruding above extension
Upper end activity pipe（231）, lower end electromagnet（222）Bottom be equiped with down protrusion extend and with upper end activity pipe
（231）Coaxially arranged lower end activity pipe（232）, bounce limiter（21）Include upper end restriction plate（211）, positioned at upper end
Restriction plate（211）Lower end side and with upper end restriction plate（211）The lower end restriction plate of parallel interval arrangement（212）, upper end restriction plate
（211）With lower end restriction plate（212）Between be provided with middle brace rod（213）, middle brace rod（213）Upper end and upper end
Restriction plate（211）It is spirally connected, middle brace rod（213）Bottom and lower end restriction plate（212）It is spirally connected, upper end electromagnet（221）、
Lower end electromagnet（222）Positioned at upper end restriction plate（211）With lower end restriction plate（212）Between, upper end activity pipe（231）It is upper
End passes through upper end restriction plate（211）And extend to upper end restriction plate（211）Upper end side, lower end activity pipe（232）Under
End passes through lower end restriction plate（212）And extend to lower end restriction plate（212）Lower end side, upper end activity pipe（231）It is outer
Enclose and be set with upper end damping spring（241）, lower end activity pipe（232）Periphery be set with lower end damping spring（242）, upper end
Damping spring（241）Upper end and upper end restriction plate（211）Abut, upper end damping spring（241）Bottom and upper end electricity
Magnet（221）Abut, lower end damping spring（242）Upper end and lower end electromagnet（222）Abut, lower end damping spring
（242）Bottom and lower end restriction plate（212）Abut, upper end activity pipe（231）Upper end and corresponding leg main body
Pipe is installed（14）Upper end connection, lower end activity pipe（232）Bottom be equiped with and grab lower margin（3）；
Trunk main body base plate（11）Singlechip controller, lithium battery are equiped with, singlechip controller is provided with wireless control module,
Lithium battery, wireless control module, each upper end electromagnet（221）And each lower end electromagnet（222）Respectively with singlechip controller
Electrical connection.
2. a kind of new-type electromagnetism spring bio-robot according to claim 1, it is characterised in that：The trunk main body bottom
Plate（11）Each trunk main body connecting circular tube of correspondence（13）The first contiguous block is screwed with respectively（41）, each trunk main body connection circle
Pipe（13）Bottom respectively with corresponding first contiguous block（41）Be spirally connected, each upper end for driving main body connecting circular tube respectively with
Top link（12）It is spirally connected.
3. a kind of new-type electromagnetism spring bio-robot according to claim 2, it is characterised in that：Each trunk main body
Connecting circular tube（13）Upper end be screwed with the second contiguous block respectively（42）, each leg main body installation pipe（14）End portion
Not with corresponding second contiguous block（42）It is spirally connected.
4. a kind of new-type electromagnetism spring bio-robot according to claim 3, it is characterised in that：Each leg main body
Pipe is installed（14）Upper end be screwed with the 3rd contiguous block respectively（43）, each upper end activity pipe（231）Upper end difference
With corresponding 3rd contiguous block（43）It is spirally connected.
5. a kind of new-type electromagnetism spring bio-robot according to claim 4, it is characterised in that：Each lower end activity
Pipe（232）Bottom be screwed with the 4th contiguous block respectively（44）, respectively grab lower margin（3）Corresponding 4th connection is screwed on respectively
Block（44）.
6. according to claim 1 to 5 any one a kind of new-type electromagnetism spring bio-robot, it is characterised in that：Institute
State trunk main body connecting circular tube（13）, the leg main body pipe is installed（14）, upper end activity pipe（231）, it is described under
End activity pipe（232）Respectively tube and pipe of aluminium alloy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621284707.0U CN206255103U (en) | 2016-11-28 | 2016-11-28 | A kind of new-type electromagnetism spring bio-robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621284707.0U CN206255103U (en) | 2016-11-28 | 2016-11-28 | A kind of new-type electromagnetism spring bio-robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206255103U true CN206255103U (en) | 2017-06-16 |
Family
ID=59026873
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621284707.0U Expired - Fee Related CN206255103U (en) | 2016-11-28 | 2016-11-28 | A kind of new-type electromagnetism spring bio-robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206255103U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115854217A (en) * | 2022-12-27 | 2023-03-28 | 重庆大学 | Six-degree-of-freedom motion platform applying electromagnetic spherical hinge |
-
2016
- 2016-11-28 CN CN201621284707.0U patent/CN206255103U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115854217A (en) * | 2022-12-27 | 2023-03-28 | 重庆大学 | Six-degree-of-freedom motion platform applying electromagnetic spherical hinge |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170616 Termination date: 20171128 |