CN211196424U

CN211196424U - Biped robot

Info

Publication number: CN211196424U
Application number: CN201920979550.0U
Authority: CN
Inventors: 李华忠; 高波; 梁永生
Original assignee: Shenzhen Institute of Information Technology
Current assignee: Shenzhen Institute of Information Technology
Priority date: 2019-06-26
Filing date: 2019-06-26
Publication date: 2020-08-07
Anticipated expiration: 2029-06-26

Abstract

The utility model belongs to the technical field of the robot, a biped robot is provided, this biped robot includes adsorption component and runner assembly, adsorption component is including the equal front end adsorption structure and the rear end adsorption structure that can adsorb to pipe wall or bulkhead, runner assembly includes 1 st steering mechanism, 2 nd steering mechanism, 3 rd steering mechanism … … N steering mechanism, above-mentioned 1 st steering mechanism, 2 nd steering mechanism, 3 rd steering mechanism … … N steering mechanism all has two ascending degrees of freedom, make this biped robot have 6 degrees of freedom at least, this biped robot walking mode is very nimble in pipe wall or bulkhead.

Description

Biped robot

Technical Field

The utility model belongs to the technical field of the robot, more specifically say, relate to a biped robot.

Background

At present, the bulkhead or the large pipeline of washing large cargo ship generally are washed through the hanging ladder or using the long ladder by the manual work, and the problem that adopts the manual work to wash to bring has: 1. the cabin wall is too high and is difficult to clean all stains, 2, manual cleaning is unsafe, in order to help people clean pipelines, cabin walls and the like and reduce the working difficulty of people, the biped robot is widely applied in the scene, and in the prior art, the biped robot has a single walking mode and is not flexible enough.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a biped robot to solve the biped robot walking mode that exists among the prior art single, not nimble enough technical problem.

In order to achieve the above object, the utility model adopts the following technical scheme: provided is a biped robot comprising:

the adsorption assembly comprises a front end adsorption structure and a rear end adsorption structure which can be adsorbed to the pipe wall or the bulkhead;

the rotating assembly comprises a 1 st steering mechanism and a 2 nd steering mechanism … … nth steering mechanism, wherein the 1 st steering mechanism comprises a 1 st front end connecting piece connected with the front end adsorption structure, a 1 st front end driver used for driving the 1 st front end connecting piece to rotate around a 1 st front end axis, a 1 st rear end driver connected with the 1 st front end driver and a 1 st rear end connecting piece driven by the 1 st rear end driver to rotate around a 1 st rear end axis, the 1 st front end axis and the 1 st rear end axis are arranged in a staggered manner, the 2 nd steering mechanism comprises a 2 nd front end connecting piece connected with the 1 st rear end connecting piece, a 2 nd front end driver used for driving the 2 nd front end connecting piece to rotate around a 2 nd front end axis, a 2 nd rear end driver connected with the 2 nd front end driver and a 2 nd rear end connecting piece driven by the 2 nd rear end driver to rotate around a 2 nd rear end axis, the 2 nd front end axis and the 2 nd rear end axis are arranged in a staggered manner, … …, the Nth steering mechanism comprises an Nth front end connecting piece connected with the Nth-1 th rear end connecting piece, an Nth front end driver used for driving the Nth front end connecting piece to rotate around an Nth front end axis, an Nth rear end driver connected with the Nth front end driver and an Nth rear end connecting piece which is driven by the Nth rear end driver to rotate around the Nth rear end axis and is connected with the rear end adsorption structure, the Nth front end axis and the Nth rear end axis are arranged in a staggered mode, wherein N is larger than or equal to 3.

Further, the Nth front end axis is perpendicular to the Nth rear end axis.

Furthermore, the Nth-1 rear end axis is perpendicular to the Nth front end axis.

Furthermore, the 1 st steering mechanism further comprises a 1 st front end retaining component connected with the 1 st front end driver and a 1 st rear end retaining component connected with the 1 st rear end driver, the 2 nd steering mechanism further comprises a 2 nd front end retaining component connected with the 2 nd front end driver and a 2 nd rear end retaining component connected with the 2 nd rear end driver, and the Nth steering mechanism further comprises an Nth front end retaining component connected with the Nth front end driver and an Nth rear end retaining component connected with the Nth rear end driver.

Further, the 1 st front end driver and the 1 st front end connecting piece, the 1 st rear end driver and the 1 st rear end driving piece, the 2 nd front end driver and the 2 nd front end connecting piece, the 2 nd rear end driver and the 2 nd rear end connecting piece … … the nth front end driver and the nth front end connecting piece, the nth rear end driver and the nth rear end connecting piece are all connected through a coupler.

Further, N is equal to 4.

Further, the biped robot further comprises a 1 st connecting arm with one end connected to the 1 st rear end connecting piece and the other end connected to the 2 nd front end connecting piece, a 2 nd connecting arm with one end connected to the 2 nd rear end connecting piece and the other end connected to the 3 rd front end connecting piece, and a 3 rd connecting arm with one end connected to the 3 rd rear end connecting piece and the other end connected to the 4 th front end connecting piece.

Furthermore, the front end adsorption structure and the rear end adsorption structure are both magnetic.

Furthermore, each front end adsorption structure is provided with at least three adsorption structures which are arranged at intervals, and each rear end adsorption structure is provided with at least three adsorption structures which are arranged at intervals.

The utility model provides a biped robot's beneficial effect lies in: compared with the prior art, the utility model provides a biped robot is through setting up 1 st steering mechanism, 2 nd steering mechanism … … N steering mechanism, and wherein, 1 st steering mechanism, 2 nd steering mechanism and N steering mechanism all have two degrees of freedom to N more than or equal to 3 for this biped robot has 6 degrees of freedom at least, and this biped robot walking mode is very nimble in pipe wall or bulkhead.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.

Fig. 1 is an overall structure schematic diagram of a biped robot provided by the embodiment of the present invention.

Wherein, in the figures, the respective reference numerals:

Detailed Description

In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

Referring to fig. 1, a biped robot according to the present invention will now be described. The biped robot comprises an adsorption assembly 10 and a rotating assembly 20.

Wherein the adsorption assembly 10 comprises a front end adsorption structure 11 and a rear end adsorption structure 12 which can be adsorbed to the pipe wall or bulkhead.

The rotating assembly 20 comprises a 1 st steering mechanism 21, a 2 nd steering mechanism 22, a 3 rd steering mechanism 23 and an Nth steering mechanism, wherein the 1 st steering mechanism 21 comprises a 1 st front end connecting piece 210 connected with the front end adsorption structure 11, a 1 st front end driver 211 used for driving the 1 st front end connecting piece 210 to rotate around a 1 st front end axis, a 1 st rear end driver 213 connected with the 1 st front end driver 211 and a 1 st rear end connecting piece 212 driven by the 1 st rear end driver 213 to rotate around a 1 st rear end axis, the 1 st front end axis and the 1 st rear end axis are arranged in a staggered way, the 2 nd steering mechanism 22 comprises a 2 nd front end connecting piece 220 connected with the 1 st rear end connecting piece 212, a 2 nd front end driver 221 used for driving the 2 nd front end connecting piece 220 to rotate around a 2 nd front end axis, a 2 nd rear end driver 223 connected with the 2 nd front end driver 221 and a 2 nd rear end connecting piece 222 driven by the 2 nd rear end driver 223 to rotate around a 2 nd rear end axis, the 2 nd front end axis and the 2 nd rear end axis are arranged in a staggered manner, the 3 rd steering mechanism 23 comprises a 3 rd front end connecting piece 230 connected with the 2 nd rear end connecting piece 222, a 2 nd front end driver 221 for driving the 3 rd front end connecting piece 230 to rotate around the 3 rd front end axis, a 3 rd rear end driver 233 connected with the 3 rd front end driver 231 and a 3 rd rear end connecting piece 232 driven by the 3 rd rear end driver 233 to rotate around the 3 rd rear end axis, the 3 rd front end axis and the 2 nd rear end axis are arranged in a staggered manner, the N-th steering mechanism comprises an Nth front end connecting piece connected with an N-1 th rear end connecting piece, an Nth front end driver for driving the Nth front end connecting piece to rotate around the Nth front end axis, an Nth rear end driver connected with the Nth front end driver and an Nth rear end connecting piece driven by the Nth rear end driver to rotate around the Nth rear end axis and connected with the rear end adsorption structure 12, the Nth front end axis and the Nth rear end axis are arranged in a staggered mode, wherein N is larger than or equal to 3.

The utility model provides a biped robot compares with prior art, through setting up 1 st steering mechanism 21, 2 nd steering mechanism 22 … … N steering mechanism, wherein, 1 st steering mechanism 21, 2 nd steering mechanism 22 and N steering mechanism have two degrees of freedom respectively to N more than or equal to 3 makes this biped robot have 6 degrees of freedom at least, and this biped robot walking mode is very nimble in pipe wall or bulkhead.

Referring to fig. 1, in the embodiment of the present invention, the nth front end axis and the nth rear end axis are perpendicular to each other, so that the degrees of freedom of each steering mechanism in two different directions are ensured.

Referring to fig. 1, in the embodiment of the present invention, the (N-1) th rear axis is perpendicular to the (N) th front axis, and the (N-1) th rear axis is perpendicular to the (N) th front axis, so that the connecting arms connected to the (N) th front connecting element and between the (N-1) th front connecting elements have different rotation directions, and the biped robot has a more flexible moving mode when walking in the pipe wall or bulkhead.

Referring to fig. 1, in the embodiment of the present invention, the 1 st steering mechanism 21 further includes a 1 st front-end retaining component 214 connected to the 1 st front-end driver 211 and a 1 st rear-end retaining component 215 connected to the 1 st rear-end driver 213, a 2 nd front-end retaining component 224 connected to the 2 nd front-end driver 221 and a 2 nd rear-end retaining component 225 connected to the 2 nd rear-end driver 223 of the 2 nd steering mechanism 22, a 3 rd front-end retaining component 234 connected to the 3 rd front-end driver 231 and a 3 rd rear-end retaining component 235 … … connected to the 3 rd rear-end driver 233 of the 3 rd steering mechanism 23, an nth front-end retaining component connected to the nth front-end driver and an nth rear-end retaining component connected to the nth rear-end driver, and the 1 st rear-end retaining component 215, the 2 nd front-end retaining component 224, The 2 nd rear-end abutting assembly 225, the 3 rd front-end abutting assembly 234, the 3 rd rear-end abutting assembly 235, the nth front-end abutting assembly, and the nth rear-end abutting assembly protect the 1 st front-end driver 211, the 1 st rear-end driver 213, the 2 nd front-end driver 221, the 2 nd rear-end driver 223, the 3 rd front-end driver 231, the 3 rd rear-end driver 233, the nth front-end driver, and the nth rear-end driver from being easily damaged and operating more stably.

Please refer to fig. 1, in the embodiment of the present invention, the 1 st front end driver 211 and the 1 st front end connector 210, the 1 st rear end driver 213 and the 1 st rear end connector 212, the 2 nd front end driver 221 and the 2 nd front end connector 220, the 2 nd rear end driver 223 and the 2 nd rear end connector 222, the 3 rd rear end driver 233 and the 3 rd rear end connector 232, the nth front end driver and the nth front end connector, the nth rear end driver and the nth rear end connector are all connected through the shaft coupling 30, the 1 st front end connector 210, the 1 st rear end connector 212, the 2 nd front end connector 220, the 2 nd rear end connector 222, the nth front end connector, and the nth rear end connector are overload protected, so as to ensure that the dual-legged robot does not easily fail during the moving process.

Preferably, N is equal to 4, the biped robot has eight degrees of freedom, and the movement mode is more flexible.

Referring to fig. 1, the biped robot further includes a 1 st link arm 40 having one end connected to the 1 st rear link 212 and the other end connected to the 2 nd front link 220, a 2 nd link arm 41 having one end connected to the 2 nd rear link 222 and the other end connected to the 3 rd front link 230, and a 3 rd link arm 42 having one end connected to the 3 rd rear link 232 and the other end connected to the 4 th front link, and by providing the 1 st link arm 40, the 2 nd link arm 41, and the 3 rd link arm 42, not only can the 1 st steering mechanism 21, the 2 nd steering mechanism 22, the 3 rd steering mechanism 23, and the 4 th steering mechanism be connected, but also the biped robot can have a larger range of motion direction.

Referring to fig. 1, in the embodiment of the present invention, the front end adsorption structure 11 and the rear end adsorption structure 12 both have magnetism, preferably, the front end adsorption structure 11 and the rear end adsorption structure 12 both adopt an electromagnet structure, the electromagnet is a device capable of generating magnetic force by applying current, and belongs to a non-permanent magnet, and the magnetism of the electromagnet can be easily started or eliminated, because the biped robot usually moves in an iron pipe wall or bulkhead, the front end adsorption structure 11 and the rear end adsorption structure 12 adopting the electromagnet structure can more easily lift up the pipe wall or bulkhead, so that the biped robot moves more quickly and efficiently in the pipe wall or bulkhead.

Further, each front end adsorption structure 11 has at least three and the interval sets up, and each rear end adsorption structure 12 has at least three and the interval sets up, and specifically, each front end adsorption structure 11 all is triangle-shaped interval with each rear end adsorption structure 12 and sets up, has improved the steadiness that biped robot walked in pipe wall or bulkhead.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. A biped robot for walking tasks in a duct or bulkhead, comprising:

the rotating assembly comprises a 1 st steering mechanism and a 2 nd steering mechanism … … nth steering mechanism, wherein the 1 st steering mechanism comprises a 1 st front end connecting piece connected with the front end adsorption structure, a 1 st front end driver used for driving the 1 st front end connecting piece to rotate around a 1 st front end axis, a 1 st rear end driver connected with the 1 st front end driver and a 1 st rear end connecting piece driven by the 1 st rear end driver to rotate around a 1 st rear end axis, the 1 st front end axis and the 1 st rear end axis are arranged in a staggered manner, the 2 nd steering mechanism comprises a 2 nd front end connecting piece connected with the 1 st rear end connecting piece, a 2 nd front end driver used for driving the 2 nd front end connecting piece to rotate around a 2 nd front end axis, a 2 nd rear end driver connected with the 2 nd front end driver and a 2 nd rear end connecting piece driven by the 2 nd rear end driver to rotate around a 2 nd rear end axis, the 2 nd front end axis and the 2 nd rear end axis are arranged in a staggered manner, … …, the Nth steering mechanism comprises an Nth front end connecting piece connected with the Nth-1 th rear end connecting piece, an Nth front end driver used for driving the Nth front end connecting piece to rotate around an Nth front end axis, an Nth rear end driver connected with the Nth front end driver and an Nth rear end connecting piece which is driven by the Nth rear end driver to rotate around an Nth rear end axis and connected with the rear end adsorption structure, the Nth front end axis and the Nth rear end axis are arranged in a staggered mode, wherein N is larger than or equal to 3, and the 1 st steering mechanism, the 2 nd steering mechanism and the Nth steering mechanism all have two degrees of freedom.

2. The biped robot of claim 1 wherein the Nth anterior axis is disposed perpendicular to the Nth posterior axis.

3. The biped robot of claim 1 wherein the nth-1 rear axis is disposed perpendicular to the nth front axis.

4. The biped robot of claim 1 wherein the 1 st steering mechanism further comprises a 1 st front-end abutment member connected to the 1 st front-end actuator and a 1 st rear-end abutment member connected to the 1 st rear-end actuator, the 2 nd steering mechanism further comprises a 2 nd front-end abutment member connected to the 2 nd front-end actuator and a 2 nd rear-end abutment member connected to the 2 nd rear-end actuator, and the nth steering mechanism further comprises an nth front-end abutment member connected to the nth front-end actuator and an nth rear-end abutment member connected to the nth rear-end actuator.

5. The biped robot of claim 1 wherein the 1 st front end actuator and the 1 st front end linkage, the 1 st rear end actuator and the 1 st rear end actuation, the 2 nd front end actuator and the 2 nd front end linkage, the 2 nd rear end actuator and the 2 nd rear end linkage … …, the nth front end actuator and the nth front end linkage, and the nth rear end actuator and the nth rear end linkage are all coupled by couplings.

6. The biped robot of any one of claims 1 to 5 wherein N is equal to 4.

7. The biped robot of claim 6 further comprising a 1 st link arm having one end connected to the 1 st rear link and the other end connected to the 2 nd front link, a 2 nd link arm having one end connected to the 2 nd rear link and the other end connected to the 3 rd front link, and a 3 rd link arm having one end connected to the 3 rd rear link and the other end connected to the 4 th front link.

8. The biped robot of claim 7 wherein the front end attachment structure and the rear end attachment structure are both magnetic.

9. The biped robot of claim 8 wherein each of the front end suction structures is at least three and spaced apart, and each of the rear end suction structures is at least three and spaced apart.