CN214057144U - Amphibious deformable spherical six-legged robot - Google Patents
Amphibious deformable spherical six-legged robot Download PDFInfo
- Publication number
- CN214057144U CN214057144U CN202023352705.XU CN202023352705U CN214057144U CN 214057144 U CN214057144 U CN 214057144U CN 202023352705 U CN202023352705 U CN 202023352705U CN 214057144 U CN214057144 U CN 214057144U
- Authority
- CN
- China
- Prior art keywords
- fixedly connected
- amphibious
- motor
- wall
- clamping frame
- 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.)
- Expired - Fee Related
Links
- 241000238631 Hexapoda Species 0.000 claims abstract description 15
- 230000002093 peripheral effect Effects 0.000 claims abstract description 4
- QNRATNLHPGXHMA-XZHTYLCXSA-N (r)-(6-ethoxyquinolin-4-yl)-[(2s,4s,5r)-5-ethyl-1-azabicyclo[2.2.2]octan-2-yl]methanol;hydrochloride Chemical compound Cl.C([C@H]([C@H](C1)CC)C2)CN1[C@@H]2[C@H](O)C1=CC=NC2=CC=C(OCC)C=C21 QNRATNLHPGXHMA-XZHTYLCXSA-N 0.000 claims description 12
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 5
- 229910052744 lithium Inorganic materials 0.000 claims description 5
- 239000011521 glass Substances 0.000 claims description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 6
- 229910003460 diamond Inorganic materials 0.000 abstract 1
- 239000010432 diamond Substances 0.000 abstract 1
- 230000005484 gravity Effects 0.000 abstract 1
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 2
- 235000017491 Bambusa tulda Nutrition 0.000 description 2
- 241001330002 Bambuseae Species 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 2
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 239000011425 bamboo Substances 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 239000011664 nicotinic acid Substances 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 101150006573 PAN1 gene Proteins 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000008093 supporting effect Effects 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses an amphibious deformable spherical hexapod robot, which comprises a bottom shell and a face shell, wherein the middle part of the bottom wall of the bottom shell is fixedly connected with a column casing, the upper side of the column casing is slidably embedded with a slide cylinder, the bottom wall of the column casing is fixedly connected with a second electric telescopic rod, six vertical grooves are equidistantly arranged on the peripheral wall of the slide cylinder, two lifting plates are embedded between the six vertical grooves, the output end of the second electric telescopic rod is fixedly connected with the lifting plate at the lowest side, the edges of the lifting plates are respectively provided with a groove, a spring is fixedly connected between the two lifting plates, and two connecting ends of a diamond folding frame are respectively hinged between the opposite grooves, can keep the center of gravity stable when needing to adjust the position in water or land.
Description
Technical Field
The utility model relates to a robot, in particular to spherical six-legged robot of amphibious flexible belongs to robot research and development field.
Background
In the natural world and the human society, there are some places which people can not reach and special occasions which can endanger the human life, such as planet surfaces, mines for disasters, disaster prevention and rescue, counterterrorism and the like, the dangerous environments are continuously explored and researched, a feasible way for solving the problems becomes the requirement of scientific and technical development and human society progress, the irregular terrain and the rugged terrain are common characteristics of the environments, so that the application of the wheeled robot and the tracked robot is limited, the previous research shows that when a wheeled moving mode runs on relatively flat terrain, the wheeled moving mode has the advantages of rapid and stable moving speed and simple structure and control, but when the wheeled moving mode runs on the rugged terrain, the energy consumption is greatly increased, and when the wheeled moving mode runs on the soft terrain or the severely rugged terrain, the action of wheels also seriously loses the moving efficiency, in order to improve the adaptability of wheels to soft ground and rough ground, a crawler-type moving mode is developed, but the mobility of the crawler-type robot on the rough ground is still poor, the robot can shake seriously when running, compared with a wheel-type and crawler-type moving robot, the walking robot on the rough ground has unique and superior performance, the research of the multi-legged walking robot is vigorously developed under the background, and the appearance of the bionic walking robot shows the advantages of the walking robot.
In order to meet the field photography or environment investigation task, the task of dispatching a robot to execute is not suitable, the field environment is complex and the water network is densely distributed, so that a plurality of robot structures under study are difficult to be competent, and an amphibious robot is urgently needed.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an amphibious deformable spherical six-legged robot to solve the problem that provides among the above-mentioned background art.
In order to achieve the above object, the utility model provides a following technical scheme: an amphibious deformable spherical hexapod robot comprises a bottom shell and a face shell, wherein the middle part of the bottom wall of the bottom shell is fixedly connected with a column casing, a slide cylinder is slidably embedded in the upper side surface of the column casing, a second electric telescopic rod is fixedly connected to the bottom wall of the column casing, six vertical grooves are formed in the peripheral wall of the slide cylinder at equal intervals, two lifting plates are embedded between the six vertical grooves, the output end of the second electric telescopic rod is fixedly connected with the lifting plate at the lowest side, grooves are formed in the edges of the lifting plates, springs are fixedly connected between the two lifting plates, two connecting ends of a rhombic folding frame are hinged between the grooves, the other connecting end of the rhombic folding frame is hinged with an equipment bin, a sliding groove is formed in the equipment bin corresponding to the rest end of the rhombic folding frame, and a first motor is fixed in the equipment bin through screws, the output of a motor all passes equipment storehouse fixedly connected with electric telescopic handle, the face-piece sets up the top at the drain pan, the fixed clamp that inlays of face-piece inner wall is equipped with the holder, the below of holder is provided with the motor No. two, No. two motor fixed connection are at the upside of slide cartridge, the inside articulated camera that has of upside of holder, the screw fixation has No. three motors still of holder lateral wall, the rotation axis fixed connection of holder and camera is passed to the output of No. three motors, it is equipped with the glass window still to correspond the camera fixed the inlaying on the face-piece.
Preferably, the bottommost side the lifter plate is connected with the inner wall of the column casing in a sliding mode, and the uppermost side the lifter plate is fixedly connected with the inner wall of the sliding casing.
Preferably, the output end of the second motor is fixedly connected with the clamping frame, and the section of the clamping frame is in an H-shaped structure.
Preferably, the sliding cylinder is of a hollow structure, and the edge of the bottom end of the sliding cylinder is provided with a limiting stop ring.
Preferably, a balancing weight is fixedly arranged at the bottom of the bottom shell.
Preferably, a lithium battery, a signal transceiver and a PLC are further installed in the bottom shell.
Compared with the prior art, the beneficial effects of the utility model are that: the utility model relates to an amphibious deformable spherical hexapod robot, spherical structure can be constituteed to drain pan and face-piece, can effectively resist wild animal's attack, and the drain pan bottom is provided with the counter weight, make the robot float in aqueous, can keep the focus stable, need when aquatic or land adjustment position, then No. two electric telescopic handle will prolong, thereby make an electric telescopic handle's beta structure can outwards extend, control four different electric telescopic handle and make up the swing, then can control hexapod robot's direction of travel, make this hexapod possess extremely strong open-air task execution ability.
Drawings
FIG. 1 is a sectional view of the structure of the present invention;
fig. 2 is a top view of the present invention;
fig. 3 is an enlarged view of the structure at a in fig. 1 of the present invention;
fig. 4 is a schematic structural view of the middle lifting plate of the present invention.
In the figure: 1. a bottom case; 11. a first electric telescopic rod; 12. a column casing; 13. a slide cylinder; 131. a vertical slot; 14. a second electric telescopic rod; 15. a lifting plate; 151. a groove; 16. a spring; 17. a rhombus folding leg; 18. an equipment bin; 181. a chute; 19. a first motor; 2. a face shell; 21. a clamping frame; 22. a motor II; 23. a camera; 24. a motor No. three; 25. a glass window.
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. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1-4, the present invention provides a technical solution: an amphibious deformable spherical hexapod robot comprises a bottom shell 1 and a face shell 2, wherein the middle part of the bottom wall of the bottom shell 1 is fixedly connected with a column barrel 12, the upper side surface of the column barrel 12 is slidably embedded with a slide barrel 13, the bottom wall of the column barrel 12 is fixedly connected with a second electric telescopic rod 14, six vertical grooves 131 are formed in the outer peripheral wall of the slide barrel 13 at equal intervals, two lifting plates 15 are embedded between the six vertical grooves 131, the output end of the second electric telescopic rod 14 is fixedly connected with the lifting plate 15 at the lowest side, grooves 151 are formed in the edges of the lifting plates 15, springs 16 are fixedly connected between the two lifting plates 15, two connecting ends of a rhombic folding frame 17 are hinged between the opposite grooves 151, an equipment bin 18 is hinged to the other connecting end of the rhombic folding frame 17, a sliding groove 181 is further formed in the equipment bin 18 corresponding to the rest end of the rhombic folding frame 17, and a first motor 19 is fixed in the equipment bin 18 by screws, the output end of the first motor 19 penetrates through the equipment bin 18 to be fixedly connected with the first electric telescopic rod 11, the bottom end of the first electric telescopic rod 11 is fixedly connected with a rubber head, the situation that the end part is excessively worn can be avoided, when the robot walks on land, the bionic quadruped animal moves, when the water surface moves, the first electric telescopic rod 11 can be used as a paddle to swing in a reciprocating mode, the first electric telescopic rods 11 on two sides are controlled to run at different speeds, the action direction of the robot can be effectively controlled, the face shell 2 is arranged above the bottom shell 1, a clamping frame 21 is fixedly embedded in the inner wall of the face shell 2, a second motor 22 is arranged below the clamping frame 21, the second motor 22 is fixedly connected to the upper side of the sliding barrel 13, a camera 23 is hinged to the inner portion of the upper side of the clamping frame 21, a third motor 24 is further fixed to the side wall of the clamping frame 21 through screws, the output end of the third motor 24 penetrates through the clamping frame 21 to be fixedly connected with a rotating shaft of the camera 23, the face shell 2 is further fixedly embedded with a glass window 25 corresponding to the camera 23, as shown in fig. 1, the structure of the rhombic folding frame 17 is formed by hinging a plurality of X-shaped structures, and two connecting ends are arranged at two ends of the rhombic folding frame and used for connecting the equipment bin 18 and the lifting plate 15.
Wherein, the downside lifter plate 15 and the inner wall sliding connection of column casing 12, the upside lifter plate 15 and the inner wall fixed connection of slide cartridge 13, the interval adjustment of two lifter plates 15 can control rhombus folding leg 17 and change flexible length.
Wherein, No. two motor 22's output and clamp 21 fixed connection, the cross-section of clamp 21 is "H" shape structure, and No. two motor 22 can drive face-piece 2 and rotate, and then makes camera 23 can shoot the image of different horizontal angles.
Wherein, smooth section of thick bamboo 13 is hollow structure and its bottom edge is provided with spacing fender ring, and spacing fender ring can avoid smooth section of thick bamboo 13 excessive slip upwards to make face-piece 2 can be stable after reaching the take the altitude.
Wherein, the fixed balancing weight that is provided with in bottom shell 1's bottom, the balancing weight can keep hexapod robot in aquatic or subaerial homoenergetic focus stable.
Wherein, still install the lithium cell in the drain pan 1, signal transceiver and PLC controller, signal transceiver makes the robot can move according to the terminal instruction, the PLC controller is used for controlling the component motion in the robot and saves and upload the image that camera 23 gathered, the lithium cell then can provide continuous electric power, it is worth mentioning that, the PLC controller can also control signal transceiver and transmit the residual capacity of lithium cell to control terminal in real time, thereby avoid the robot to appear in the situation that power is lost in the field.
Specifically, when the utility model is used, the second electric telescopic rod 14 is contracted, the contact surface of the bottom shell 1 and the face shell 2 is tightly attached, rainwater or river water can be prevented from entering the robot, when the robot floats to a shallow water position, the second electric telescopic rod 14 pushes the lower lifting plate 15 to move upwards, under the supporting action of the spring 16, the height of the sliding barrel 13 can continuously rise, the clamping frame 21 and the face shell 2 can be supported to lift, the distance between the two lifting plates 15 is reduced until the sliding barrel 13 rises to the highest position, the two lifting plates 15 can extrude the rhombic folding frame 17 to extend outwards until the equipment bin 18 extends to the outer side of the bottom shell 1, the first motor 19 moves to drive the output end of the first electric telescopic rod 11 to be aligned with the ground, the first electric telescopic rod 11 extends to effectively support the bottom shell 1, otherwise, the robot can be contracted again to be spherical, thereby avoid external attack, and control four electric telescopic handle 11 and swing in turn, then can make hexapod robot walk on land or water, and change four different electric telescopic handle 11 and make up, then hexapod robot can walk to the not equidirectional, and No. two motors 22 can drive face-piece 2 and rotate, and then make camera 23 can shoot the image of different horizontal angles, and No. three motors 24 can adjust camera 23 to shoot to different vertical angles, but make camera 23's shooting face more comprehensive.
In the description of the present invention, it is to be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "other end", "upper", "one side", "top", "inner", "front", "center", "both ends", 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 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.
Furthermore, the terms "first", "second", "third", "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated, whereby the features defined as "first", "second", "third", "fourth" may explicitly or implicitly include at least one such feature.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "disposed," "connected," "fixed," "screwed" and the like are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through an intermediate medium, and may be connected through the inside of two elements or in an interaction relationship between two elements, unless otherwise specifically defined, and the specific meaning of the above terms in the present invention will be understood by those skilled in the art according to specific situations.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The amphibious deformable spherical hexapod robot is characterized by comprising a bottom shell (1) and a face shell (2), wherein a column casing (12) is fixedly connected to the middle of the bottom wall of the bottom shell (1), a sliding cylinder (13) is slidably embedded in the upper side face of the column casing (12), a second electric telescopic rod (14) is fixedly connected to the bottom wall of the column casing (12), six vertical grooves (131) are formed in the peripheral wall of the sliding cylinder (13) at equal intervals, two lifting plates (15) are embedded between the six vertical grooves (131), the output end of the second electric telescopic rod (14) is fixedly connected with the lifting plate (15) at the lowest side, grooves (151) are formed in the edges of the lifting plates (15), springs (16) are fixedly connected between the two lifting plates (15), and two connecting ends of a rhombic folding frame (17) are hinged between the grooves (151), the other connecting end of the rhombic folding frame (17) is hinged with an equipment bin (18), a sliding groove (181) is further formed in the equipment bin (18) corresponding to the rest end of the rhombic folding frame (17), a motor (19) is screwed in the equipment bin (18), the output end of the motor (19) penetrates through an electric telescopic rod (11) fixedly connected with the equipment bin (18), the face shell (2) is arranged above the bottom shell (1), a clamping frame (21) is fixedly embedded in the inner wall of the face shell (2), a second motor (22) is arranged below the clamping frame (21), the second motor (22) is fixedly connected to the upper side of the sliding barrel (13), a camera (23) is hinged to the inner side of the upper side of the clamping frame (21), a third motor (24) is further screwed in the side wall of the clamping frame (21), and the output end of the third motor (24) penetrates through the clamping frame (21) and is fixedly connected with the rotating shaft of the camera (23), and a glass window (25) is fixedly embedded in the face shell (2) corresponding to the camera (23).
2. The amphibious deformable spherical hexapod robot according to claim 1, wherein: the bottommost side lifter plate (15) and column casing (12) inner wall sliding connection, the topmost side lifter plate (15) and slide drum (13) inner wall fixed connection.
3. The amphibious deformable spherical hexapod robot according to claim 1, wherein: the output end of the second motor (22) is fixedly connected with the clamping frame (21), and the section of the clamping frame (21) is in an H-shaped structure.
4. The amphibious deformable spherical hexapod robot according to claim 1, wherein: the sliding cylinder (13) is of a hollow structure, and the edge of the bottom end of the sliding cylinder is provided with a limiting stop ring.
5. The amphibious deformable spherical hexapod robot according to claim 1, wherein: and a balancing weight is fixedly arranged at the bottom of the bottom shell (1).
6. The amphibious deformable spherical hexapod robot according to claim 1, wherein: and a lithium battery, a signal receiving and transmitting device and a PLC (programmable logic controller) are also arranged in the bottom shell (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023352705.XU CN214057144U (en) | 2020-12-31 | 2020-12-31 | Amphibious deformable spherical six-legged robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023352705.XU CN214057144U (en) | 2020-12-31 | 2020-12-31 | Amphibious deformable spherical six-legged robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214057144U true CN214057144U (en) | 2021-08-27 |
Family
ID=77368800
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202023352705.XU Expired - Fee Related CN214057144U (en) | 2020-12-31 | 2020-12-31 | Amphibious deformable spherical six-legged robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214057144U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114939877A (en) * | 2022-05-18 | 2022-08-26 | 北京邮电大学 | Movable operation spherical robot for construction of lunar base |
-
2020
- 2020-12-31 CN CN202023352705.XU patent/CN214057144U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114939877A (en) * | 2022-05-18 | 2022-08-26 | 北京邮电大学 | Movable operation spherical robot for construction of lunar base |
| CN114939877B (en) * | 2022-05-18 | 2023-11-10 | 北京邮电大学 | A portable operation spherical robot for moon base is built |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2021000628A1 (en) | Bionic robotic manta ray | |
| CN106828831B (en) | A kind of rolling into based on built-in driving principle is swum hybrid submersible of dwelling more | |
| CN107554637B (en) | Six-foot obstacle crossing robot | |
| CN214057144U (en) | Amphibious deformable spherical six-legged robot | |
| CN108859637B (en) | Spherical amphibious robot | |
| CN107116980A (en) | Amphibious robot and amphibious reconnaissance system | |
| CN108454718A (en) | A kind of passive adaptive robot of crawler type | |
| CN205273662U (en) | For military use bionical operation robot based on bionics principle | |
| CN112319753B (en) | Deep-diving bionic wire-pulling machine fish | |
| CN102530120A (en) | Six-user requirement specification (URS) six-foot walking robot | |
| CN211592892U (en) | Center-of-gravity shifting type amphibious sampling robot | |
| CN207088875U (en) | Lu Hang robots and amphibious robot | |
| CN207088876U (en) | Amphibious robot and amphibious Reconnaissance system | |
| CN210634729U (en) | Seabed rubbish clearance robot | |
| CN210307897U (en) | Robot removes and bears base | |
| CN114778790B (en) | Marine ecological remediation engineering marine environment monitoring devices | |
| CN104210571B (en) | A kind of wheeled lower limb running gear with independent ambulation and cross-country function | |
| CN209795650U (en) | Parallel hexapod robot | |
| CN111890341B (en) | Robot similar to snake-shaped crawling | |
| CN210822514U (en) | Folding and unfolding type reducing spherical robot | |
| CN208789417U (en) | A kind of spherical shape amphibious robot | |
| CN111731406A (en) | Intelligent sensing robot walking device | |
| CN206466144U (en) | A kind of rolling into based on built-in driving principle is swum hybrid submersible of dwelling more | |
| CN110077564B (en) | Underwater eight-foot robot | |
| CN211055267U (en) | Horizontal insulator running gear |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210827 |