CN218703587U - Indoor inspection biped robot with parallelogram link mechanism - Google Patents
Indoor inspection biped robot with parallelogram link mechanism Download PDFInfo
- Publication number
- CN218703587U CN218703587U CN202223229875.8U CN202223229875U CN218703587U CN 218703587 U CN218703587 U CN 218703587U CN 202223229875 U CN202223229875 U CN 202223229875U CN 218703587 U CN218703587 U CN 218703587U
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- robot
- main body
- body frame
- leg
- 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
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses an indoor inspection biped robot with a parallelogram link mechanism, wherein a control circuit board is arranged in a main body frame of the robot, and an installation upper plate is arranged above the main body frame of the robot; the robot comprises a robot main body frame, a parallelogram connecting rod leg mechanism, a leg steering engine, a leg connecting rod leg mechanism, a wheel foot and a leg steering engine, wherein the leg steering engine is arranged in the robot main body frame, two sides of the robot main body frame are respectively connected with one end of the parallelogram connecting rod leg mechanism, the other end of the parallelogram connecting rod leg mechanism is provided with the wheel foot, and the output end of the leg steering engine is respectively connected with the parallelogram connecting rod leg mechanisms on two sides. The utility model discloses based on the cooperation that parallelogram connecting rod leg mechanism and wheel are sufficient can realize the robot freedom in various types place, walk fast, have the jump function, can cross various obstacle road surfaces, eliminated the coupling of going and jump action and make the robot can follow multiple scene of tumbleing and resume, and can set up multiple peripheral hardware, and expansibility is strong, has certain popularization prospect.
Description
Technical Field
The utility model belongs to the mobile robot field, concretely relates to biped robot is patrolled and examined in parallelogram link mechanism's room.
Background
At present, the development of inspection robots for factories is promoted along with the development of research on high-performance mobile robots. Although flight systems like drones have shown very good operability, they are very limited in load and flight time.
Therefore, in some scenarios, a movable inspection robot is needed, but the existing movable inspection robots cannot adapt to various complex terrains such as an uneven ground or difficult to cross obstacles on one hand, so ground robots that can move quickly and overcome indoor obstacles remain topics to be researched, and they are usually slow in strategy or lack of flexibility.
Disclosure of Invention
The utility model aims at providing an indoor inspection biped robot with a parallelogram link mechanism,
realize the utility model discloses the technical solution of purpose does:
an indoor inspection biped robot with a parallelogram link mechanism comprises an external installation upper plate, a control circuit board, a parallelogram link leg mechanism, wheel feet, a robot main body frame and a leg steering engine;
a control circuit board is arranged in the robot main body frame, and an upper plate is arranged above the robot main body frame;
a leg steering engine is further arranged inside the robot main body frame, two sides of the robot main body frame are respectively connected with one end of a parallelogram connecting rod leg mechanism, and the other end of the parallelogram connecting rod leg mechanism is provided with a wheel foot;
the output end of the leg steering engine is respectively connected with the leg mechanisms of the parallelogram connecting rods at the two sides.
Furthermore, each parallelogram connecting rod leg mechanism comprises a rear thigh connecting rod, a rear shank connecting rod, a front thigh connecting rod and a front shank connecting rod;
one end of the rear thigh connecting rod is connected with the robot main body frame, the other end of the rear thigh connecting rod is connected with one end of the rear shank connecting rod through a bearing, and the other end of the rear shank connecting rod is connected with one side of the wheel foot;
one end of the front thigh connecting rod is connected with the robot main body frame), the other end of the front thigh connecting rod is connected with one end of the front shank connecting rod through a bearing, and the other end of the front shank connecting rod is connected with the other side of the wheel foot.
Further, the wheel foot comprises a wheel foot motor and a wheel foot hub;
the output end of the wheel foot motor is connected with a wheel foot hub.
Further, the system also comprises a depth binocular camera;
the depth binocular camera is arranged on the peripheral installation upper plate.
Further, the device also comprises a gyroscope sensor;
the gyroscope sensor is arranged inside the robot main body frame.
Furthermore, a laser radar is arranged on the peripheral installation upper plate.
Further, an execution manipulator is arranged on the peripheral installation upper plate.
Compared with the prior art, the utility model, it is showing the advantage and is:
(1) The utility model can realize the free and rapid walking of the robot in various types of fields based on the matching of the parallelogram connecting rod leg mechanism and the wheel feet, can cross various obstacle road surfaces and has the jumping function; the coupling of driving and jumping actions is eliminated and the robot can recover from various falling scenes;
(2) The utility model discloses a biped robot dismouting of being convenient for, and support the multiple peripheral hardware of installation, have very strong expansibility.
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Drawings
Fig. 1 is the utility model discloses a biped robot overall structure schematic diagram is patrolled and examined in parallelogram link mechanism's room.
Fig. 2 is the utility model discloses a parallelogram link lever leg mechanism schematic structure diagram of biped robot is patrolled and examined to parallelogram link mechanism's room.
Fig. 3 is the utility model discloses a sufficient schematic diagram of wheel of biped robot is patrolled and examined to parallelogram link mechanism's room.
Fig. 4 is the utility model discloses a biped robot operating condition schematic diagram is patrolled and examined in parallelogram link mechanism's room.
Detailed Description
Examples
With reference to fig. 1 to 4, an indoor inspection biped robot with a parallelogram link mechanism comprises an externally-mounted upper plate 1, a control circuit board 2, a parallelogram link leg mechanism 3, wheel feet 4, a robot main body frame 6 and a leg steering engine 7;
the control circuit board 2 is arranged in the robot main body frame 6, and the mounting upper plate 1 is arranged above the robot main body frame 6;
a leg steering engine 7 is further arranged inside the robot main body frame 6, two sides of the robot main body frame 6 are respectively connected with one end of a parallelogram connecting rod leg mechanism 3, and the other end of the parallelogram connecting rod leg mechanism 3 is provided with a wheel foot 4;
the output end of the leg steering engine 7 is connected with the leg mechanisms 3 of the parallelogram connecting rods on the two sides respectively.
Further, each of the parallelogram link leg mechanisms 3 includes a rear thigh link 31, a rear shank link 32, a front thigh link 33, and a front shank link 34;
one end of the rear thigh connecting rod 31 is connected with the robot main body frame 6, the other end of the rear thigh connecting rod is connected with one end of a rear shank connecting rod 32 through a bearing, and the other end of the rear shank connecting rod 32 is connected with one side of the wheel foot 4;
one end of the front thigh connecting rod 33 is connected with the robot main body frame 6, the other end of the front thigh connecting rod is connected with one end of the front shank connecting rod 34 through a bearing, and the other end of the front shank connecting rod 34 is connected with the other side of the wheel foot 4.
Further, the wheel foot 4 comprises a wheel foot motor 41 and a wheel foot hub 42;
the output end of the wheel foot motor 41 is connected with a wheel foot hub 42.
Further, a depth binocular camera 5 is also included;
the depth binocular camera 5 is arranged on the peripheral installation upper plate 1.
Further, the device also comprises a gyroscope sensor;
the gyro sensor is disposed inside the robot main body frame 6.
When the biped robot works, the front-back movement and the steering movement of the biped robot are realized by driving the wheel hubs 42 through the wheel foot motors 41, when the biped robot adapts to different road conditions, road information is collected through the depth binocular camera 5 and sent to the main control circuit board 2, the leg steering engines 7 are driven in real time, and the movement of the link mechanisms of the rear thigh connecting rods 31, the rear shank connecting rods 32, the front thigh connecting rods 33 and the front shank connecting rods 34 is matched with the front-back movement of the wheel feet 4 to realize the adjustment of the movement postures of the legs, so that the situation that the upper plate 1 and the robot main body frame 6 are installed on the peripheral equipment and the like to keep a horizontal movement state at all times is ensured.
When encountering a step, the same process is adopted, the main control circuit board 2 drives the parallelogram connecting rod leg mechanisms 3 and the wheel feet 4 to realize the integral jumping of the robot, so that the robot can jump up the step, and the gyroscope sensor arranged in the robot can feed back the integral posture of the robot in real time so as to keep balance constantly. Through the structural characteristics, the performance of the legs and the wheels can be combined, the multifunctional legs can jump over obstacles through jumping, the wheels can move on flat ground quickly and efficiently, and narrow indoor environment can require the robot to have higher maneuverability and flexibility.
Further, a laser radar is arranged on the peripheral installation upper plate 1.
Further, an execution manipulator is arranged on the peripheral installation upper plate 1.
In the use of reality, can also set up different peripheral hardware on the installation upper plate of peripheral hardware according to the demand, the expansibility is strong.
The foregoing embodiments illustrate and describe the basic principles and principal features of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, and such changes and modifications are within the scope of the invention as claimed.
Claims (7)
1. An indoor inspection biped robot with a parallelogram link mechanism is characterized by comprising an upper mounting plate (1), a control circuit board (2), a parallelogram link leg mechanism (3), wheel feet (4), a robot main body frame (6) and a leg steering engine (7) which are arranged outside;
a control circuit board (2) is arranged in the robot main body frame (6), and an upper mounting plate (1) is arranged above the robot main body frame (6);
a leg steering engine (7) is further arranged inside the robot main body frame (6), two sides of the robot main body frame (6) are respectively connected with one end of a parallelogram connecting rod leg mechanism (3), and the other end of the parallelogram connecting rod leg mechanism (3) is provided with a wheel foot (4);
the output end of the leg steering engine (7) is respectively connected with the leg mechanisms (3) of the parallelogram connecting rods at two sides.
2. The indoor inspection biped robot of parallelogram linkage according to claim 1, characterized in that each parallelogram linkage leg mechanism (3) comprises a rear thigh link (31), a rear shank link (32), a front thigh link (33) and a front shank link (34);
one end of the rear thigh connecting rod (31) is connected with the robot main body frame (6), the other end of the rear thigh connecting rod is connected with one end of the rear shank connecting rod (32) through a bearing, and the other end of the rear shank connecting rod (32) is connected with one side of the wheel foot (4);
one end of the front thigh connecting rod (33) is connected with the robot main body frame (6), the other end of the front thigh connecting rod is connected with one end of the front shank connecting rod (34) through a bearing, and the other end of the front shank connecting rod (34) is connected with the other side of the wheel foot (4).
3. The indoor inspection biped robot of the parallelogram linkage according to claim 1, wherein the wheel foot (4) includes a wheel foot motor (41) and a wheel foot hub (42);
the output end of the wheel foot motor (41) is connected with a wheel foot hub (42).
4. The indoor inspection biped robot of the parallelogram linkage of claim 1, further comprising a depth binocular camera (5);
the depth binocular camera (5) is arranged on the peripheral installation upper plate (1).
5. The indoor inspection biped robot of the parallelogram linkage of claim 1, further comprising a gyroscope sensor;
the gyroscope sensor is arranged inside a robot main body frame (6).
6. The indoor inspection biped robot of the parallelogram linkage mechanism of claim 1, wherein a laser radar is arranged on the peripheral installation upper plate (1).
7. The indoor inspection biped robot of the parallelogram linkage mechanism of claim 1, wherein an execution manipulator is provided on the peripheral mounting upper plate (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223229875.8U CN218703587U (en) | 2022-12-02 | 2022-12-02 | Indoor inspection biped robot with parallelogram link mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223229875.8U CN218703587U (en) | 2022-12-02 | 2022-12-02 | Indoor inspection biped robot with parallelogram link mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218703587U true CN218703587U (en) | 2023-03-24 |
Family
ID=85625549
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202223229875.8U Active CN218703587U (en) | 2022-12-02 | 2022-12-02 | Indoor inspection biped robot with parallelogram link mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218703587U (en) |
-
2022
- 2022-12-02 CN CN202223229875.8U patent/CN218703587U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN211032803U (en) | Double-wheel-foot hybrid self-balancing robot | |
| CN109176461B (en) | Wheel-leg type obstacle crossing robot | |
| CN108340981B (en) | All-terrain multipurpose mobile robot | |
| CN110525535A (en) | A kind of two-wheel foot mixing self-balance robot | |
| CN108163080B (en) | Electrically driven quadruped robot capable of adapting to high load capacity of complex rugged terrain | |
| CN110667723A (en) | Bionic all-terrain robot | |
| CN104647343B (en) | A kind of microminiature upset stair climbing robot | |
| CN209454890U (en) | A kind of wheeled creeping-type free switching hexapod robot | |
| CN201231791Y (en) | Multi-joint type crawler mobile robot | |
| CN102085886B (en) | Folding hopping robot | |
| CN214875226U (en) | Moving device of robot and robot | |
| CN102431604A (en) | Humanoid robot with function of interchanging double-foot walking with wheeled moving | |
| CN103171645B (en) | Hexapod robot capable of travelling in rolling manner | |
| CN102849140A (en) | Multi-moving-mode bionic moving robot | |
| CN218703587U (en) | Indoor inspection biped robot with parallelogram link mechanism | |
| AU2019101190A4 (en) | Wheel-legged integrated hexapod robot | |
| CN111824286A (en) | Variable-foot mobile robot | |
| CN112775963A (en) | Mobile robot structure with two seven-degree-of-freedom modular arms | |
| CN110126937B (en) | Bionic quadruped robot and gait control method | |
| CN205131423U (en) | 3D prints eight sufficient bionic robot | |
| CN208291362U (en) | A kind of wheel shoe full landform exploring robot of convolution | |
| Hong et al. | Kylin: A transformable track-wheel hybrid robot | |
| CN212447844U (en) | Variable-foot mobile robot | |
| CN211222947U (en) | ROS (reactive oxygen species) scheduling system-based all-terrain independent suspension mobile robot for farm | |
| CN211416983U (en) | Remote control unmanned vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |