CN209719774U - A kind of Four-feet creeping robot - Google Patents
A kind of Four-feet creeping robot Download PDFInfo
- Publication number
- CN209719774U CN209719774U CN201920070417.3U CN201920070417U CN209719774U CN 209719774 U CN209719774 U CN 209719774U CN 201920070417 U CN201920070417 U CN 201920070417U CN 209719774 U CN209719774 U CN 209719774U
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- China
- Prior art keywords
- control cabinet
- thigh
- creeping robot
- feet creeping
- actuator
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Abstract
The utility model relates to a kind of Four-feet creeping robot, Four-feet creeping robot includes thigh, monitoring device, rear leg link and control cabinet behind leg connecting rod, 2 gaskins, 2 foreleg actuators, 2 back leg actuators, 2 before thigh, 2 before shank, 2 before 2；Monitoring device is set to the front end of control cabinet, the upper end of thigh rotates in the front of the bottom surface of control cabinet respectively before 2, the lower end of each preceding thigh rotates in each preceding mid calf, and the upper end of each preceding shank and the lower end of each preceding leg connecting rod turn company, and each foreleg actuator is fixed on control cabinet bottom surface.Four-feet creeping robot provided by the utility model can either go up a slope, descending, various complicated landforms can adapt to very well and stabilization of walking when rugged ground is walked；Leg structure uses thigh and the separately-driven mode of shank, can both keep upper body posture at any time in this way, moreover it is possible to neatly adjust gait, which can keep well upper body posture in walking and structure is simple, is easy to commercialization.
Description
Technical field
The utility model relates to a kind of technical fields of robot, and in particular to a kind of Four-feet creeping robot.
Background technique
Common on the market at present is all wheeled robot, however wheeled robot is largely effected on due to not having knee joint
Its complicated landform reliability, especially in the dangerous scene for being not suitable for the mankind and entering, for example, descending, by nuclear radiation pollution
Area, earthquake relief area, therefore some are insufficient for the stability of wheeled robot action and mobility.For this purpose, I
Propose a kind of Four-feet creeping robot to solve the above problems.
Utility model content
The utility model provides a kind of Four-feet creeping robot, solves the problems, such as techniques discussed above.
The scheme that the utility model solves above-mentioned technical problem is as follows: a kind of Four-feet creeping robot, the Four-feet creeping
Robot includes 2 preceding shanks, 2 preceding thighs, 2 preceding leg connecting rods, 2 gaskins, 2 foreleg actuators, 2 back leg drivings
Part, thigh, monitoring device, rear leg link and control cabinet after 2；
The monitoring device is set to the front end of the control cabinet, and the upper end of 2 preceding thighs rotates respectively to be fixed on
The front of the bottom surface of the control cabinet, each preceding small midleg is fixed in the lower end rotation of each preceding thigh, each described
The upper end of preceding shank and the lower end of each preceding leg connecting rod are rotatablely connected, and each foreleg actuator is fixed on the control cabinet bottom
The front in face, the output shaft of each foreleg actuator are fixedly connected with the upper end of each preceding leg connecting rod, 2 rear thighs
Upper end rotate the rear portion for being fixed on the bottom surface of the control cabinet respectively, it is each it is described after thigh lower end rotation be fixed on it is each described
The lower end of the middle part of gaskin, the upper end of each gaskin and each rear leg link is rotatablely connected, each back leg driving
Part is fixed on the rear portion of the control cabinet bottom surface, and the output shaft of each back leg actuator and the upper end of each rear leg link are solid
Fixed connection, the control cabinet are electrically connected with the monitoring device, each foreleg actuator and each back leg actuator.
Further, the Four-feet creeping robot further includes 2 half soles, under each half sole and each preceding shank
End is fixedly connected.
Further, the Four-feet creeping robot further includes slapping after 2, it is each it is described after the palm under each gaskin
End is fixedly connected.
Further, the foreleg actuator is foreleg driving motor, and the back leg actuator is back leg driving motor.
Further, the monitoring device is infrared sensor.
Further, the top of the control cabinet is equipped with top cover.
Further, the Four-feet creeping robot further includes 2 preceding thigh support seats, the upper end difference of each preceding thigh
The front of the bottom surface of the control cabinet, each fixed peace of the foreleg actuator are fixed on by each preceding thigh support seat rotation
Loaded on each preceding thigh support seat.
Further, the Four-feet creeping robot further includes thigh support seat after 2, the upper end difference of each rear thigh
The front of the bottom surface of the control cabinet, each fixed peace of the back leg actuator are fixed on by each rear thigh support seat rotation
Loaded on each rear thigh support seat.
Further, the half sole or the rear palm are the spherical shape that bottom is plane.
The beneficial effects of the utility model are: the utility model provides a kind of Four-feet creeping robot, have following excellent
Point: 1, it compared to wheeled robot, although legged type robot is slightly inferior in terms of speed and energy consumption efficiency, is adapted in landform
Property aspect can but show extremely strong superiority, Four-feet creeping robot can when rugged ground is walked, either on
Slope, descending, various complicated landforms can adapt to very well and stabilization of walking；2, leg structure uses thigh and shank drives respectively
Dynamic mode can both keep upper body posture at any time in this way, moreover it is possible to neatly adjust gait, which can be very well in walking
Ground keeps upper body posture and structure is simple, is easy to commercialization.
The above description is merely an outline of the technical solution of the present invention, in order to better understand the skill of the utility model
Art means, and can be implemented in accordance with the contents of the specification, below on the preferred embodiment of the present invention and the accompanying drawings in detail
It describes in detail bright as after.Specific embodiment of the present utility model is shown in detail by following embodiment and its attached drawing.
Detailed description of the invention
Attached drawing described herein is used to provide a further understanding of the present invention, and is constituted part of this application,
The exemplary embodiment of the utility model and the description thereof are used to explain the utility model, does not constitute to the improper of the utility model
It limits.In the accompanying drawings:
Fig. 1 is a kind of overlooking structure diagram for Four-feet creeping robot that an embodiment of the present invention provides；
Fig. 2 is a kind of side structure schematic view for Four-feet creeping robot that Fig. 1 is provided.
In attached drawing, parts list represented by the reference numerals are as follows:
1, preceding shank；2, half sole；3, preceding thigh；4, preceding leg connecting rod；5, preceding thigh support seat；6, gaskin；7, the rear palm；8,
Back leg driving motor；9, rear thigh；10, rear thigh support seat；11, control cabinet；12, top cover；13, monitoring device；15, foreleg drives
Dynamic motor；16, rear leg link.
Specific embodiment
The principles of the present invention and feature are described below in conjunction with attached drawing 1-2, example is served only for explaining this
Utility model is not intended to limit the scope of the utility model.In the following passage by way of example more specifically referring to attached drawing
The utility model is described.According to following explanation and claims, will be become apparent from feature the advantages of the utility model.It needs to illustrate
, attached drawing is all made of very simplified form and using non-accurate ratio, only conveniently, lucidly to aid in illustrating originally
The purpose of utility model embodiment.
It should be noted that it can be directly on another component when component is referred to as " being fixed on " another component
Or there may also be components placed in the middle.When a component is considered as " connection " another component, it, which can be, is directly connected to
To another component or it may be simultaneously present component placed in the middle.When a component is considered as " being set to " another component, it
It can be and be set up directly on another component or may be simultaneously present component placed in the middle.Term as used herein is " vertical
", " horizontal ", "left", "right" and similar statement for illustrative purposes only.
Unless otherwise defined, all technical and scientific terms used herein are led with the technology for belonging to the utility model
The normally understood meaning of the technical staff in domain is identical.Terminology used in the description of the utility model herein only be
The purpose of description specific embodiment, it is not intended that in limitation the utility model.Term " and or " used herein includes
Any and all combinations of one or more related listed items.
As shown in Figs. 1-2, the utility model provides a kind of Four-feet creeping robot, and the Four-feet creeping robot includes
Preceding 3,2, thigh preceding leg connecting rods 4,2 gaskin 6, the 2 foreleg actuator of 2 preceding shanks 1,2,2 back leg actuators, 2
Thigh 9, monitoring device 13, rear leg link 16 and control cabinet 11 afterwards；
The monitoring device 13 is set to the front end of the control cabinet 11, and the upper end of 2 preceding thighs 3 rotates solid respectively
Due to the front of the bottom surface of the control cabinet 11, the lower end rotation of each preceding thigh 3 is fixed in each preceding shank 1
The lower end of portion, the upper end of each preceding shank 1 and each preceding leg connecting rod 4 is rotatablely connected, and each foreleg actuator is fixed on
The upper end of the front of 11 bottom surface of control cabinet, the output shaft of each foreleg actuator and each preceding leg connecting rod 4 is fixed to be connected
It connects, the upper end of 2 rear thighs 9 rotates the rear portion for being fixed on the bottom surface of the control cabinet 11 respectively, each rear thigh 9
Lower end rotates the middle part for being fixed on each gaskin 6, the lower end of the upper end of each gaskin 6 and each rear leg link 16
Rotation connection, each back leg actuator are fixed on the rear portion of 11 bottom surface of control cabinet, the output of each back leg actuator
Axis is fixedly connected with the upper end of each rear leg link 16, and the control cabinet 11 drives with the monitoring device 13, each foreleg
Moving part and each back leg actuator are electrically connected.
It is understood that the upper end of preceding thigh 3, the lower end of preceding thigh 3, the middle part of preceding shank 1, preceding shank 1 upper end,
The lower end of preceding leg connecting rod 4 and upper end one lanar four rod mechanism of this 6 points compositions of preceding leg connecting rod 4, the preceding thigh 3 it is upper
11 bottom surface of control cabinet is fixed at end, and the upper end of the preceding leg connecting rod 4 is driven by the output shaft of foreleg actuator.It is similar
, it is identical that structure and the foreleg of back leg movement transport the structure of function.
Further, the Four-feet creeping robot further includes 2 half soles 2, each half sole 2 and each preceding shank 1
Lower end be fixedly connected.
Further, the Four-feet creeping robot further includes slapping 7 after 2, it is each it is described after the palm 7 and each gaskin 1
Lower end be fixedly connected.
Further, the foreleg actuator is foreleg driving motor 15, and the back leg actuator is back leg driving motor 8.
Further, the monitoring device 13 is infrared sensor.
Further, the top of the control cabinet 11 is equipped with top cover 12.
Further, to be easy to replace and maintain, the Four-feet creeping robot further includes 2 preceding thigh support seats 5, each institute
The upper end of thigh 3 passes through the front that the bottom surface of the control cabinet 11 is fixed in each preceding rotation of thigh support seat 5 respectively before stating,
Each foreleg actuator is fixedly installed on each preceding thigh support seat 5.
Further, to be easy to replace and maintain, the Four-feet creeping robot further includes thigh support seat 10 after 2, respectively
After described the upper end of thigh 9 pass through respectively it is each it is described after before 10 rotation of thigh support seat is fixed on the bottom surface of the control cabinet 11
Portion, each back leg actuator are fixedly installed on each rear thigh support seat 10.
Further, the half sole 2 or the rear palm 7 are the spherical shape that bottom is plane.By by half sole 2 or it is described after the palm 7
It is designed as the spherical shape that bottom is plane, structure is more firm, processes also more convenient.
The utility model provides a kind of Four-feet creeping robot, has the advantage that 1, compared to wheeled robot, foot
Although formula robot is slightly inferior in terms of speed and energy consumption efficiency, can be shown in terms of terrain adaptability extremely strong excellent
More property, Four-feet creeping robot can either go up a slope, descending, various complicated landforms can when rugged ground is walked
It adapts to and stabilization of walking very well；2, leg structure uses thigh and the separately-driven mode of shank, can both protect at any time in this way
Hold upper body posture, moreover it is possible to neatly adjust gait, which can keep upper body posture and structure well in walking
Simply, it is easy to commercialization.
The concrete operating principle and application method of the utility model are as follows: in use, belonging to 13 scanning machine people of monitoring device
Surrounding enviroment calculate programme path according to the case where ambient enviroment, and thigh 3 and preceding shank 1 are mobile before then control cabinet 11 controls,
When mobile, half sole 2 is lifted, rear 7 landing of the palm, and the detection switch at 11 edge of control cabinet can be adjusted according to periphery varying environment is detected
The whole direction of motion, rear thigh 9 and gaskin 6 are mobile with the direction of motion, and half sole 2 lands, and the rear palm 7 lifts, and move integrally.
It should be pointed out that the control cabinet 11 can be chosen as PLC SIMATIC S7-400 series, manufacturer
It opens up cubic producer.Its function is the most powerful, it can successfully realize Integrated automation (TIA) solution, main special
Point is that have modular structure and possess performance deposit, fan-free design and higher extended capability, and have comprehensive communication
And network function, easy it can realize distributed frame, user's operation is very convenient.The infrared sensor is chosen as KGY5
Type infrared sensor.
The above, the only preferred embodiment of the utility model not make in any form the utility model
Limitation；The those of ordinary skill of all industry can be shown in by specification attached drawing and described above and swimmingly to implement this practical
It is novel；But all those skilled in the art are not departing within the scope of technical solutions of the utility model, using being taken off above
The technology contents shown and the equivalent variations of a little variation, modification and evolution made, are the equivalent embodiment of the utility model；
Meanwhile it the change of all substantial technological any equivalent variationss to the above embodiments according to the utility model, modifying and drilling
Become etc., within the protection scope for still falling within the technical solution of the utility model.
Claims (9)
1. a kind of Four-feet creeping robot, which is characterized in that before the Four-feet creeping robot is including 2 preceding shanks (1), 2
Thigh (3), 2 preceding leg connecting rods (4), 2 gaskins (6), 2 foreleg actuators, 2 back leg actuators, thigh (9) after 2,
Monitoring device (13), rear leg link (16) and control cabinet (11)；
The monitoring device (13) is set to the front end of the control cabinet (11), and the upper end of 2 preceding thighs (3) rotates respectively
It is fixed on the front of the bottom surface of the control cabinet (11), each preceding shank is fixed in the lower end rotation of each preceding thigh (3)
(1) lower end of middle part, the upper end of each preceding shank (1) and each preceding leg connecting rod (4) is rotatablely connected, and each foreleg drives
Moving part is fixed on the front of the control cabinet (11) bottom surface, the output shaft of each foreleg actuator and each preceding leg connecting rod
(4) upper end is fixedly connected, and the upper end of 2 rear thighs (9) rotates the bottom surface for being fixed on the control cabinet (11) respectively
Rear portion, it is each it is described after the lower end rotation of thigh (9) be fixed on the middle part of each gaskin (6), each gaskin (6) it is upper
End and the lower end of each rear leg link (16) are rotatablely connected, and each back leg actuator is fixed on the control cabinet (11) bottom surface
Rear portion, the output shaft of each back leg actuator is fixedly connected with the upper end of each rear leg link (16), the control cabinet
(11) it is electrically connected with the monitoring device (13), each foreleg actuator and each back leg actuator.
2. a kind of Four-feet creeping robot according to claim 1, which is characterized in that the Four-feet creeping robot further includes
2 half soles (2), each half sole (2) are fixedly connected with the lower end of each preceding shank (1).
3. a kind of Four-feet creeping robot according to claim 2, which is characterized in that the Four-feet creeping robot further includes
(7) are slapped after 2, each rear palm (7) is fixedly connected with the lower end of each gaskin (6).
4. a kind of Four-feet creeping robot according to claim 1, which is characterized in that the foreleg actuator is foreleg driving
Motor (15), the back leg actuator are back leg driving motor (8).
5. a kind of Four-feet creeping robot according to claim 1, which is characterized in that the monitoring device (13) is infrared ray
Sensor.
6. a kind of Four-feet creeping robot according to claim 1, which is characterized in that the top of the control cabinet (11) is equipped with
Top cover (12).
7. a kind of Four-feet creeping robot according to claim 1, which is characterized in that the Four-feet creeping robot further includes
2 preceding thigh support seats (5), the upper end of each preceding thigh (3) pass through each preceding thigh support seat (5) rotation respectively and fix
In the front of the bottom surface of the control cabinet (11), each foreleg actuator is fixedly installed in each preceding thigh support seat (5)
On.
8. a kind of Four-feet creeping robot according to claim 7, which is characterized in that the Four-feet creeping robot further includes
Thigh support seat (10) after 2, it is solid that the upper end of each rear thigh (9) passes through each rear thigh support seat (10) rotation respectively
Due to the front of the bottom surface of the control cabinet (11), each back leg actuator is fixedly installed in each rear thigh support seat
(10) on.
9. a kind of Four-feet creeping robot according to claim 3, which is characterized in that the half sole (2) or the rear palm (7)
It is the spherical shape of plane for bottom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920070417.3U CN209719774U (en) | 2019-01-16 | 2019-01-16 | A kind of Four-feet creeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920070417.3U CN209719774U (en) | 2019-01-16 | 2019-01-16 | A kind of Four-feet creeping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209719774U true CN209719774U (en) | 2019-12-03 |
Family
ID=68680055
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920070417.3U Expired - Fee Related CN209719774U (en) | 2019-01-16 | 2019-01-16 | A kind of Four-feet creeping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209719774U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111806590A (en) * | 2020-07-17 | 2020-10-23 | 上海布鲁可科技有限公司 | Crawling robot |
| CN112278109A (en) * | 2020-10-30 | 2021-01-29 | 山东大学 | Leg structure of bionic underwater foot type robot and bionic underwater foot type robot |
| CN115384653A (en) * | 2022-09-28 | 2022-11-25 | 北京航空航天大学 | Controllable off-line crawling robot based on electromagnetic driving principle |
-
2019
- 2019-01-16 CN CN201920070417.3U patent/CN209719774U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111806590A (en) * | 2020-07-17 | 2020-10-23 | 上海布鲁可科技有限公司 | Crawling robot |
| CN112278109A (en) * | 2020-10-30 | 2021-01-29 | 山东大学 | Leg structure of bionic underwater foot type robot and bionic underwater foot type robot |
| CN115384653A (en) * | 2022-09-28 | 2022-11-25 | 北京航空航天大学 | Controllable off-line crawling robot based on electromagnetic driving principle |
| CN115384653B (en) * | 2022-09-28 | 2023-07-25 | 北京航空航天大学 | Controllable off-line crawling robot based on electromagnetic driving principle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20191203 Termination date: 20210116 |