CN210454960U - Frame system of hexapod robot - Google Patents
Frame system of hexapod robot Download PDFInfo
- Publication number
- CN210454960U CN210454960U CN201921296384.0U CN201921296384U CN210454960U CN 210454960 U CN210454960 U CN 210454960U CN 201921296384 U CN201921296384 U CN 201921296384U CN 210454960 U CN210454960 U CN 210454960U
- Authority
- CN
- China
- Prior art keywords
- fixed
- vehicle body
- frame system
- mounting
- automobile body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The utility model discloses a frame system of a hexapod robot, which comprises a plurality of fixed trusses and a cab frame, wherein the fixed trusses form a rectangular vehicle body, each fixed truss comprises two main rods, inclined rods and vertical rods which are distributed at equal intervals are fixedly arranged between the main rods, a supporting piece is fixedly arranged at one opposite side of the rectangular vehicle body, and one side of the supporting piece opposite to the rectangular vehicle body is fixedly provided with a reinforcing channel steel, the reinforcing channel steel and the supporting piece form an engine mounting base, the rectangular vehicle body is fixedly provided with valve blocks and filter fixing plates which are uniformly distributed, a control room is arranged in the cab frame, the side ends of the rectangular vehicle body are hinged with hydraulic cylinder mounting lug plate moving parts which are distributed at equal intervals, and the hydraulic cylinder mounting lug plate moving part comprises a mounting plate and clamping seats fixedly mounted at two ends of the mounting plate. The utility model discloses design, preparation, installation of truss are all comparatively simple and convenient, can reduce manufacturing cost.
Description
Technical Field
The utility model relates to the technical field of robot, especially, relate to six sufficient robot frame systems.
Background
The research of our country on the hexapod bionic robot starts late than abroad and lags behind the advanced foreign level on the basis of basic theory and research result, but with the increasing support of our country on the scientific and technological development, our country has also gained great results in the field of the bionic robot.
Currently, when the existing six-legged robot vehicle body is designed as a BritisSobot vehicle body, the vehicle body is of a hexagonal structure; the vehicle body of the all-terrain six-foot detector ATHLETE developed by NASA in the United states adopts a ring beam structure; the hexapod robot of the university of the harbin industry has a design that adopts a circular body structure and a rectangular body structure. In comparison, the structure has obvious difference from a rectangular machine body structure which adopts a truss structure and has elliptically distributed hinge points. And the truss structure has good stress state and has greater advantages than other structures under the condition of heavy load. In view of the rapid development trend of the conventional hexapod robot, the truss structure vehicle body suitable for the hexapod robot with general purposes has great practical significance.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a: the automobile body that present rectangle automobile body, circular automobile body, collar tie shape automobile body, rectangle and oval automobile body combined together all has certain not enough, if: the rectangular vehicle body can reduce the obstacle crossing capability of the hexapod robot; the circular vehicle body structure can reduce the traveling speed of the hexapod robot; the ring beam structure increases the integrity and stability of the vehicle body, has greater bearing capacity, but does not have good universality and stability; although the rectangular and elliptical combined vehicle body can well meet the requirements of obstacle crossing and rapid traveling of the hexapod robot, compared with the vehicle body with the truss structure, the vehicle body with the truss structure is not as good in stress state as the truss structure and has the advantage in the aspect of light weight when meeting the same strength requirement. In order to overcome the defects, various frame structures are combined, and a universally applicable vehicle body structure which can meet the requirements of the six-legged robot on the motion capability and has a better stress state, namely a rectangular truss type vehicle body structure with hinge points distributed in an oval shape is obtained, and the advantages of the truss structure are fully exerted.
The utility model provides a six-legged robot frame system, including a plurality of fixed trusses and driver's cabin frame, a plurality of the fixed trusses constitute the rectangle automobile body, and each fixed truss all includes two mobile poles, the fixed mounting has the down tube and the montant of equidistance distribution between the mobile pole, the relative one side fixed mounting of rectangle automobile body has support piece, and support piece and the relative one side of rectangle automobile body all fixed mounting have the enhancement channel-section steel, the enhancement channel-section steel constitutes the engine mounting base with support piece, the rectangle automobile body fixed mounting has evenly distributed valve block and filter fixed plate, the inside of driver's cabin frame is provided with the control room, the side of rectangle automobile body all articulates has the pneumatic cylinder installation otic placode moving part of equidistance distribution, and pneumatic cylinder installation otic placode moving part includes mounting panel and the cassette of, the mounting panel fixed mounting has the installation draw-in groove, the bottom fixed mounting of rectangle automobile body has the supporting leg that the equidistance distributes, rectangle automobile body fixed mounting has evenly distributed's small-size strengthening rib.
Preferably, the fixed truss is of a polygonal fixed structure, the number of the hydraulic cylinder mounting lug plate moving parts is six, and the six hydraulic cylinder mounting lug plate moving parts are symmetrical about a central axis in the length and width directions of the rectangular vehicle body.
Preferably, the quantity of supporting leg is four, and four supporting legs distribute on four extreme point positions of rectangle automobile body, and the equal fixed mounting in supporting leg bottom has the extension fagging, and the bottom outer wall fixed mounting of extension fagging has the lug that the equidistance distributes.
Preferably, the rectangular vehicle body and the control room are both provided with seats, and the control room is streamlined and formed by welding steel pipes.
Preferably, the seat and the cab frame are both independent moving parts, the moving parts are fixedly mounted on the rectangular vehicle body by a certain number of special connecting pieces, and the special connecting pieces are composed of connecting rods and threaded connecting rods.
Preferably, the engine is installed in a position sunk inside the rectangular vehicle body, and the valve block and the filter fixing plate are fixedly installed in the gap.
Preferably, the fixing and mounting manner is to firstly adopt spot welding and then carry out full welding.
Preferably, the rectangular vehicle body is fixedly provided with a large number of small reinforcing ribs.
The utility model provides a beneficial effect does:
1. according to the frame system of the hexapod robot, the truss is simple and convenient to design, manufacture and install, and the processing and manufacturing cost can be reduced;
2. the frame system of the hexapod robot has a large truss adaptation span range, and can meet various requirements;
3. this hexapod robot frame system, the member mainly bears pulling force or pressure, and the effect of material can full play, material saving alleviates structural weight, adopts truss structure, can exert truss structure's strong point, remedies current heavy load hydraulic pressure hexapod robot automobile body in subtract heavy, bear the weight of the aspect not enough.
The part that does not relate to in the device all is the same with prior art or can adopt prior art to realize, the utility model discloses simple structure, bearing capacity are good.
Drawings
Fig. 1 is a schematic view of an overall three-dimensional structure of a finished truss structure vehicle body of a hexapod robot frame system according to the present invention;
fig. 2 is a schematic perspective view of a fixed truss structure of a frame system of a hexapod robot according to the present invention;
fig. 3 is a schematic perspective view of a hydraulic cylinder mounting lug plate moving part of the frame system of the hexapod robot according to the present invention;
FIG. 4 is a schematic perspective view of a support leg of the frame system of the hexapod robot of the present invention;
fig. 5 is a schematic view of a three-dimensional structure of a cab frame of a hexapod robot frame system according to the present invention;
fig. 6 is a schematic view of a three-dimensional structure of a reinforced channel steel for increasing the lateral rigidity of a truss structure in the frame system of the hexapod robot;
fig. 7 is a schematic view of a three-dimensional structure of a small reinforcing rib for increasing the lateral rigidity of the truss in the frame system of the hexapod robot of the present invention;
fig. 8 is the utility model provides a frame spatial structure sketch map after six-legged robot frame system uses a large amount of small-size strengthening ribs to strengthen.
In the figure: the hydraulic control system comprises a fixed truss 1, an inclined rod 101, a vertical rod 102, a main rod 103, a hydraulic cylinder mounting lug plate moving part 2, a mounting plate 201, a mounting clamping groove 202, a clamping seat 203, a cab frame 3, a control room 301, a supporting piece 4, a small reinforcing rib 5, a reinforced channel steel 6, a supporting leg 7, an expanded supporting plate 701, a convex block 702, a valve block 8 and a filter fixing plate 9.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
All of the features disclosed in this specification, or all of the steps in any method or process so disclosed, may be combined in any combination, except combinations where mutually exclusive features or steps are mutually exclusive.
Any feature disclosed in this specification may be replaced by alternative features serving equivalent or similar purposes, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.
Example 1
Referring to fig. 1-7, a frame system of a hexapod robot comprises a plurality of fixed trusses 1 and a cab frame 3, wherein the plurality of fixed trusses 1 form a rectangular vehicle body, each fixed truss 1 comprises two main rods 103, diagonal rods 101 and vertical rods 102 which are distributed equidistantly are welded between the main rods 103, a support member 4 is welded on one side opposite to the rectangular vehicle body, reinforcing channel steel 6 is welded on one side of the support member 4 opposite to the rectangular vehicle body, the reinforcing channel steel 6 and the support member 4 form an engine mounting base, valve blocks 8 and filter fixing plates 9 which are distributed uniformly are welded on the rectangular vehicle body, a control room 301 is arranged inside the cab frame 3, hydraulic cylinder mounting lug plate moving members 2 which are distributed equidistantly are hinged on the side ends of the rectangular vehicle body, and each hydraulic cylinder mounting lug plate moving member 2 comprises a mounting plate 201 and a clamping seat 203 welded, the mounting panel 201 welding has installation draw-in groove 202, and the bottom welding of rectangle automobile body has the supporting leg 7 that the equidistance distributes, and the welding of rectangle automobile body has evenly distributed's small-size strengthening rib 5.
The utility model discloses in, fixed truss 1 is the fixed structure of polygon, and the quantity of pneumatic cylinder installation otic placode moving part 2 is six, six pneumatic cylinder installation otic placode moving parts 2 about the axis symmetry of the long wide direction of rectangle automobile body.
Wherein, the quantity of supporting leg 7 is four, and four supporting legs 7 distribute on four extreme point positions of rectangle automobile body, and extension fagging 701 has all been welded to supporting leg 7 bottom, and the bottom outer wall welding of extension fagging 701 has the lug 702 that the equidistance distributes, effectively improves supporting leg 7's skid resistance through the lug 702 that sets up.
Wherein, the rectangular vehicle body and the control room 301 are both provided with seats, and the control room 301 is streamline and formed by welding steel pipes.
The seat and the cab frame 3 are independent moving parts, the moving parts are mounted on the rectangular vehicle body through a certain number of special connecting pieces, and the special connecting pieces are composed of connecting rods and threaded connecting rods so as to reduce welding difficulty and vehicle body deformation.
Wherein, the installation position of engine is designed to sink in the inside of rectangle automobile body to reduce the focus of rectangle automobile body, improve the stability of this rectangle automobile body, valve piece 8 and filter fixed plate 9 are all installed in the gap, in order to guarantee the compact structure of this rectangle frame.
The welding mode is that spot welding is firstly adopted to reduce welding deformation, full welding and heating aging are then carried out to reduce stress concentration, and the overall performance of the rectangular frame is ensured.
Example 2
Referring to fig. 1 and 8, in the frame system of the hexapod robot, compared with the rectangular vehicle body of the embodiment 1, a large number of small reinforcing ribs 5 are welded on the rectangular vehicle body.
The utility model discloses in adopt a large amount of small-size strengthening ribs 5 can compensate the poor weakness of truss structure lateral rigidity to improve the bulk rigidity and the intensity of rectangle frame.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can substitute or change the technical solution and the inventive concept of the present invention within the technical scope of the present invention.
Claims (8)
1. Hexapod robot frame system, including a plurality of fixed trusses (1) and driver's cabin frame (3), its characterized in that, a plurality of fixed trusses (1) constitute the rectangle automobile body, and every fixed truss (1) all includes two mobile jib (103), fixed mounting has down tube (101) and montant (102) that the equidistance distributes between mobile jib (103), the relative one side fixed mounting of rectangle automobile body has support piece (4), and support piece (4) and the relative one side of rectangle automobile body all fixed mounting have strengthen channel-section steel (6), strengthen channel-section steel (6) and support piece (4) constitution engine mount base, rectangle automobile body fixed mounting has evenly distributed's valve block (8) and filter fixed plate (9), the inside of driver's cabin frame (3) is provided with control room (301), the side of rectangle automobile body all articulates there is pneumatic cylinder installation otic placode moving part (2) that the equidistance distributes, and pneumatic cylinder installation otic placode moving part (2) include mounting panel (201) and fixed mounting in cassette (203) at mounting panel (201) both ends, mounting panel (201) fixed mounting has installation slot (202), the bottom fixed mounting of rectangle automobile body has supporting leg (7) that the equidistance distributes, rectangle automobile body fixed mounting has evenly distributed's small-size strengthening rib (5).
2. The hexapod robot frame system of claim 1, wherein the fixed truss (1) is a polygonal fixed structure, and the number of the hydraulic cylinder mounting lug plate moving members (2) is six, and the six hydraulic cylinder mounting lug plate moving members (2) are symmetrical about a central axis in the length and width directions of the rectangular vehicle body.
3. The hexapod robot frame system according to claim 1, wherein the number of the support legs (7) is four, the four support legs (7) are distributed at four end positions of the rectangular vehicle body, the bottom ends of the support legs (7) are fixedly provided with extension supporting plates (701), and the outer walls of the bottoms of the extension supporting plates (701) are fixedly provided with lugs (702) distributed equidistantly.
4. The hexapod robot frame system of claim 1, wherein the rectangular body and the control room (301) are both equipped with seats, and the control room (301) is streamlined and welded from steel tubing.
5. The hexapod robot frame system of claim 4, wherein the seat and the cab frame (3) are separate moving parts, the moving parts are fixedly mounted to the rectangular body using a number of special connecting members, the special connecting members are composed of connecting rods and threaded connecting rods.
6. The hexapod robotic frame system of claim 1, wherein the engine is mounted in a position that is designed to sink inside the rectangular body, and wherein the valve block (8) and the filter mounting plate (9) are both fixedly mounted in the slot.
7. The hexapod robotic frame system of claim 1, wherein said fixed mounting is first spot welded and then full welded.
8. The hexapod robotic frame system of claim 1, wherein the rectangular body is fixedly mounted with a large number of small reinforcing bars (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921296384.0U CN210454960U (en) | 2019-08-12 | 2019-08-12 | Frame system of hexapod robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921296384.0U CN210454960U (en) | 2019-08-12 | 2019-08-12 | Frame system of hexapod robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210454960U true CN210454960U (en) | 2020-05-05 |
Family
ID=70450827
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921296384.0U Active CN210454960U (en) | 2019-08-12 | 2019-08-12 | Frame system of hexapod robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210454960U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110371193A (en) * | 2019-08-12 | 2019-10-25 | 吉林大学 | Hexapod robot frame system and frame |
-
2019
- 2019-08-12 CN CN201921296384.0U patent/CN210454960U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110371193A (en) * | 2019-08-12 | 2019-10-25 | 吉林大学 | Hexapod robot frame system and frame |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN210454960U (en) | Frame system of hexapod robot | |
| CN205574057U (en) | Heavy machineshop car frame cross | |
| CN207241830U (en) | A kind of side skirt structure for trailer | |
| CN210908731U (en) | Simple tool positioning platform based on vehicle body welding | |
| CN107663904A (en) | Latticed shell structure and its box node support | |
| CN103434356B (en) | A kind of steel plate type front upper cantilever | |
| CN210416390U (en) | Drawstring support | |
| CN208668448U (en) | A kind of heavy construction steel pipe concrete bracket foundation structure | |
| CN203580538U (en) | Steel plate type front upper cantilever | |
| CN208881905U (en) | A kind of automobile rear longitudinal girder assembly structure | |
| CN207697411U (en) | A kind of vehicle triangle arm configuration | |
| CN206524801U (en) | A kind of multifuctional solar carport | |
| CN206856425U (en) | A kind of light-weighted Front Leaf Spring shackle bracket | |
| CN218493250U (en) | Perpendicular circulating stereo garage's steel construction | |
| CN210216919U (en) | Trunk-shaped pillar structure of steel structure building | |
| CN218141765U (en) | Automobile front axle structure | |
| CN211943500U (en) | Liquid die forging rare earth aluminum alloy beam assembly and automobile applying same | |
| CN212001572U (en) | Special section aluminum profile for aluminum alloy truss | |
| CN214816099U (en) | Fixed point fixing device of H-shaped steel component | |
| CN211998572U (en) | Modular structure combined heavy multipurpose suspension arm | |
| CN211281198U (en) | Rear auxiliary frame | |
| CN220096478U (en) | High-strength bearing structural beam for engineering machinery cab | |
| CN218751003U (en) | Follower support | |
| CN219194115U (en) | Superimposed beam structure for construction elevator | |
| CN211975597U (en) | Heavy ball joint base of finished product support and hanger |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |