CN106926995A - It is a kind of to be suitable to the walking robot of environments such as subsea - Google Patents
It is a kind of to be suitable to the walking robot of environments such as subsea Download PDFInfo
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- CN106926995A CN106926995A CN201710053723.1A CN201710053723A CN106926995A CN 106926995 A CN106926995 A CN 106926995A CN 201710053723 A CN201710053723 A CN 201710053723A CN 106926995 A CN106926995 A CN 106926995A
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- joint group
- group
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- big leg
- upper bottom
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
It is suitable to the walking robot of environments such as subsea the invention discloses a kind of.The present invention includes the machine person, robot leg group, vision system, illuminator and power supply and control system.The machine person is made up of body upper casing and body lower casing.Robot leg group is made up of six robot legs, and the structure of every robot leg is identical, and robot leg is made up of front and rear pendulum joint group, upper bottom joint group, big leg joint group and shank；Vision system is made up of left camera and right camera；Illuminator is made up of left side lamp and starboard light；Power supply includes power supply, control module and sealing drum with control system；Power supply and control module are packaged in sealing drum, and sealing drum is bolted and is fixed on the inner surface of body lower casing.The present invention has very strong adaptability to sea bottom complex environment, and system availability is strong, with good scalability, can efficiently accomplish the continuous of environments such as subsea parameter and detect on a large scale.
Description
Technical field
The invention belongs to marine settings technical field, and in particular to a kind of to be suitable to the walking robot of environments such as subsea.
Background technology
The area of earth surface about 71% is covered by water body, the wide waters quilt that this piece is separated but communicated by continent
Referred to as ocean.The whole water body of ocean carries miscellaneous biology, and it is as land for vast biology provides existence
Resource and place.From ocean surface always down, it is seabed on the border of ocean water body, seabed carries whole ocean water body,
So as to form the such a colourful big system in ocean, used as the supporting body of ocean, seabed is richly stored with biology
Resource, available energy etc., but understanding of the mankind to seabed is cognitive also far from enough.
As the step that the mankind explore ocean deepens continuously, there are many oceanographic equipments to play huge in ocean is explored
Big effect, there are AUV, ROV and Glider etc. in existing widely used marine exploration robot, but these equipment are unsuitable for sea
Bottom detection mission, AUV and Glider are more applicable for the detection to ocean water body, and ROV is more suitable for a range of ocean weather station observation
Or job task.Environments such as subsea is complicated, and sea-floor relief is rugged changeable first, and it has requirement very high, seabed to habitata
Detecting devices must have the adaptability of complicated landform；Secondly as sea-floor relief changes, there is big flow velocity sea in some regions
Stream, this kind of environment causes the great disadvantage to influence on habitata equipment, therefore it is required that undersea device must have good anti-current
Ability.Currently available habitata instrument is limited, particularly automates continuous probe instrument on a large scale more rare.
The content of the invention
It is an object of the invention to provide it is a kind of overcome problem above be suitable to the walking robot of environments such as subsea.
The present invention is made up of the machine person, robot leg group, vision system, illuminator and power supply and control system.
The machine person is made up of body upper casing and body lower casing, is connected by bolt between body upper casing and body lower casing
Connect.
Robot leg group is made up of six robot legs, and the structure of every robot leg is identical, and robot leg is symmetrical two-by-two
The both sides of the machine person are distributed in, fixation is bolted between robot leg and the machine person.Robot leg is by preceding
Pendulum joint group, upper bottom joint group, big leg joint group and shank are constituted afterwards.
Front and rear pendulum joint group includes front and rear pendulum joint group cylinder, front and rear pendulum joint group servomotor, front and rear pendulum joint group electricity
Machine fixed plate, front and rear pendulum joint group cylinder hubcap static sealing ring, front and rear pendulum joint group cylinder back-end lid static sealing ring, front and rear pendulum
The first sealing ring of joint group cylinder hubcap, the second sealing ring of front and rear pendulum joint group cylinder hubcap, front and rear pendulum joint group cylinder
Hubcap, front and rear pendulum joint group cylinder back-end lid, front and rear pendulum joint group flat key, front and rear pendulum joint group clamp nut, front and rear pendulum are closed
The connecting plate of section group first, front and rear pendulum joint the second connecting plate of group and front and rear pendulum joint group bearing of rear end cover.Front and rear pendulum joint group cylinder
The outer surface flat board of body is bolted to connection with the machine person；Front and rear pendulum joint group servomotor is close to the one of output shaft
Side is connected by screw before and after being fixed on pendulum joint group motor fixing plate；Front and rear pendulum joint group motor fixing plate is connected by screw
Connect and be fixed in front and rear pendulum joint group cylinder lumen；Front and rear pendulum joint group cylinder hubcap static sealing ring and front and rear pendulum joint group cylinder
Body rear end cap static sealing ring is put in group two seal grooves of end face of cylinder of joint before and after being separately mounted to；Front and rear pendulum joint group cylinder
The sealing ring of hubcap first and front and rear pendulum joint group cylinder the second sealing ring of hubcap put joint group cylinder before and after being separately mounted to
In the seal groove of hubcap；Front and rear pendulum joint group cylinder hubcap pendulum joint group servo motor output shaft before and after passes through bolt
Before and after being fastened on the end face of pendulum joint group cylinder side；Front and rear pendulum joint group cylinder back-end lid is bolted fixation
On the end face of front and rear pendulum joint group cylinder opposite side；Front and rear pendulum joint group flat key is placed in the key of joint group servo motor output shaft
In groove；The first connecting plate of group pendulum joint group flat key before and after in front and rear pendulum joint is connected with the output shaft of joint group servomotor；
It is threadedly coupled between front and rear pendulum joint group clamp nut and the output shaft of joint group servomotor and by front and rear pendulum joint group first
Connecting plate is pressed on the output shaft of joint group servomotor；The inner ring of front and rear pendulum joint group bearing of rear end cover and front and rear pendulum joint
Connected by interference fit between group cylinder back-end lid；The outer ring of front and rear pendulum joint group bearing of rear end cover and front and rear pendulum joint group
Connected by interference fit between two connecting plates.
Upper bottom joint group includes upper bottom joint group cylinder, upper bottom joint group servomotor, upper bottom joint group electricity
Machine fixed plate, upper bottom joint group cylinder hubcap static sealing ring, upper bottom joint group cylinder back-end lid static sealing ring, the upper bottom
The first sealing ring of joint group cylinder hubcap, the second sealing ring of upper bottom joint group cylinder hubcap, upper bottom joint group cylinder
Hubcap, upper bottom joint group cylinder back-end lid, upper bottom joint group flat key, upper bottom joint group clamp nut, the upper bottom are closed
The connecting plate of section group first, upper bottom joint the second connecting plate of group and upper bottom joint group bearing of rear end cover.Upper bottom joint group cylinder
The shape of the mouth as one speaks ring of external surface is bolted with front and rear pendulum joint the first connecting plate of group and front and rear pendulum joint the second connecting plate of group
Connection；Upper bottom joint group servomotor be connected by screw near the side of output shaft be fixed on upper bottom joint group motor consolidate
In fixed board；Upper bottom joint group motor fixing plate is connected by screw and is fixed in the group cylinder lumen of bottom joint；The upper bottom
Joint group cylinder hubcap static sealing ring and upper bottom joint group cylinder back-end lid static sealing ring are separately mounted to bottom joint
In group two seal grooves of end face of cylinder；The first sealing ring of upper bottom joint group cylinder hubcap and upper bottom joint group drum shaft
The sealing ring of end cap second is separately mounted in the seal groove of bottom joint group cylinder hubcap；Upper bottom joint group cylinder shaft end
Lid is bolted the end face for being fixed on upper bottom joint group cylinder side through upper bottom joint group servo motor output shaft
On；Upper bottom joint group cylinder back-end lid is bolted and is fixed on the end face of bottom joint group cylinder opposite side；On
Bottom joint group flat key is placed in the keyway of joint group servo motor output shaft；Upper bottom joint the first connecting plate of group is by upper and lower
Pendulum joint group flat key is connected with the output shaft of joint group servomotor；Upper bottom joint group clamp nut and joint group servomotor
Output shaft between threaded connection and upper bottom joint the first connecting plate of group is pressed on the output shaft of joint group servomotor；
Connected by interference fit between the inner ring of upper bottom joint group bearing of rear end cover and upper bottom joint group cylinder back-end lid；Up and down
Put and connected by interference fit between the outer ring of joint group bearing of rear end cover and upper bottom joint the second connecting plate of group.
Big leg joint group includes big leg joint group cylinder, big leg joint group servomotor, big leg joint group barrel front end lid
Static sealing ring, big leg joint group cylinder hubcap static sealing ring, the first sealing ring of big leg joint group cylinder hubcap, big leg joint
The second sealing ring of group cylinder hubcap, big leg joint group barrel front end lid, big leg joint group cylinder hubcap, big leg joint group are put down
Key, big leg joint group clamp nut, big leg joint group bevel gear, big leg joint group bevel gear bar, big leg joint group clutch shaft bearing,
Big leg joint group second bearing, the big cover plate of leg joint group first and the big cover plate of leg joint group second.Big leg joint group barrel front end
Lid is connected by screw fixation with upper bottom joint the first connecting plate of group and upper bottom joint the second connecting plate of group；Big leg joint group
The sealing ring of cylinder hubcap first and the second sealing ring of big leg joint group cylinder hubcap are separately mounted to big leg joint group cylinder
In the seal groove of hubcap；Big leg joint group cylinder hubcap passes through the output shaft of big leg joint group servomotor and is closed with thigh
Section group servomotor is connected by screw fixation；Big leg joint group barrel front end lid static sealing ring and big leg joint group cylinder shaft end
Lid static sealing ring is separately mounted in big two seal grooves of end face of leg joint group cylinder；Big leg joint group barrel front end lid and big
Leg joint group cylinder hubcap is bolted on two end faces for being fixed on big leg joint group cylinder respectively；Big leg joint group
Flat key is placed in the keyway of big leg joint group servo motor output shaft；Big leg joint group bevel gear and big leg joint group servomotor
Output shaft is connected by big leg joint group flat key；Big leg joint group clamp nut passes through with big leg joint group servo motor output shaft
Threaded connection, and big leg joint group bevel gear is pressed on big leg joint group servo motor output shaft；Big leg joint group first
The inner ring of bearing is connected with the axle of close bevel gear side in big leg joint group bevel gear bar by interference fit；Thigh is closed
The inner ring of section group second bearing is connected solid with the axle in big leg joint group bevel gear bar away from bevel gear side by interference fit
It is fixed；The outer ring of big leg joint group clutch shaft bearing and big leg joint group second bearing is placed in the fork-shaped of big leg joint group cylinder hubcap
In opening；The first cover plate of big leg joint group surrounds big leg joint group clutch shaft bearing and passes through screw and big leg joint group cylinder shaft end
The fork-shaped opening of lid is connected；The second cover plate of big leg joint group surrounds big leg joint group second bearing and passes through screw and thigh
The fork-shaped opening of joint group cylinder hubcap is connected；Shank is connected by screw fixation with big leg joint group bevel gear bar.
Vision system is made up of left camera and right camera.Left camera and right camera are symmetrical, pass through respectively
Mode connects for screw is fixed on the outer surface of body lower casing front side.
Illuminator is made up of left side lamp and starboard light.Left side lamp and starboard light are symmetrical, are connected by screw respectively
It is fixed on the outer front side surface of body lower casing.
Power supply includes power supply, control module and sealing drum with control system.Power supply and control module are packaged in sealing drum,
Sealing drum is bolted and is fixed on the inner surface of body lower casing.
The beneficial effect that the present invention can reach：
(1) seabed walking robot uses a plurality of leg structure, is supported by a plurality of leg and advanced, on the one hand to Complex Sea bottom ground
Shape environment has very strong adaptability；Another face, in the seabed with ocean current interference, seabed walking robot has good
Anti-current ability, the habitata that seabed walking robot can be efficiently accomplished in the Complex Sea bottom terrain environment with ocean current is appointed
Business；
(2) seabed walking robot can thereon carry suitable according to Research Requirements as a kind of habitata platform
Sensor carry out the detection mission of different bottom parameters, install additional thereon in addition after manipulator can development seabed operation task,
Seabed walking robot is practical, with good task compatibility；
(3) in the case of electric energy abundance, seabed walking robot can complete large area sea-bed area ambient parameter
Online long-term continuous probe, can provide reliable data supporting for the research of the Spatio-temporal Evolution of environments such as subsea parameter；
(4) seabed walking robot has good scalability, and multiple seabed walking robots can carry out seabed group
Net detection, such that it is able to further improve environments such as subsea investigative range, while the reliability of whole system can be improved.
Brief description of the drawings
Fig. 1 is of the invention a kind of to be suitable to the walking robot schematic diagram of environments such as subsea；
Fig. 2 is of the invention a kind of to be suitable to the walking robot profile of environments such as subsea；
Fig. 3 first robot leg section of structure of the invention；
Pendulum joint group structure profile before and after Fig. 4 is of the invention；
Fig. 5 upper bottom joint group structure profiles of the invention；
Fig. 6 thigh joint group structure profiles of the invention.
In figure：11. body upper casings, 12. body lower casings, 21. first robot legs, 22. Article 2 robot legs, 23.
Article 3 robot leg, 24. Article 4 robot legs, 25. Article 5 robot legs, 26. Article 6 robot legs, 31. left sides
Camera, 32. right cameras, 41. left side lamps, 42. starboard lights, 51. power supplys, 52. control modules, 53. sealing drums, pendulum before and after 211.
Joint group, bottom joint group on 212., 213. big leg joint groups, 214. shanks, pendulum joint group cylinder, 21102. before and after 21101.
Front and rear pendulum joint group servomotor, pendulum joint group motor fixing plate before and after 21103., before and after 21104. pendulum joint group cylinder shaft end
Lid static sealing ring, pendulum joint group cylinder back-end lid static sealing ring before and after 21105., pendulum joint group cylinder hubcap before and after 21106.
First sealing ring, pendulum joint group cylinder the second sealing ring of hubcap before and after 21107., before and after 21108. pendulum joint group cylinder shaft end
Lid, pendulum joint group cylinder back-end lid before and after 21109., pendulum joint group flat key before and after 21110., pendulum joint group fastening before and after 21111.
Nut, the pendulum connecting plate of joint group first before and after 21112., the pendulum connecting plate of joint group second before and after 21113., pendulum is closed before and after 21114.
Section group bearing of rear end cover, bottom joint group cylinder on 21201., bottom joint group servomotor on 21202., the bottom on 21203.
Joint group motor fixing plate, group cylinder hubcap static sealing ring in bottom joint on 21204., bottom joint group cylinder on 21205.
Rear end cap static sealing ring, group cylinder the first sealing ring of hubcap in bottom joint on 21206., bottom joint group cylinder on 21207.
The sealing ring of hubcap second, group cylinder hubcap in bottom joint on 21208., group cylinder back-end lid in bottom joint on 21209.,
Bottom joint group flat key on 21210., bottom joint group clamp nut on 21211., bottom joint group first is connected on 21212.
Plate, group the second connecting plate in bottom joint on 21213., bottom joint group bearing of rear end cover on 21214., 21301. big leg joint groups
Cylinder, 21302. big leg joint group servomotors, 21303. big leg joint group barrel front end lid static sealing rings, 21304. thighs are closed
Section group cylinder hubcap static sealing ring, 21305. the first sealing rings of big leg joint group cylinder hubcap, 21306. big leg joint groups
The sealing ring of cylinder hubcap second, 21307. big leg joint group barrel front end lids, 21308. big leg joint group cylinder hubcaps,
21309. big leg joint group flat keys, 21310. big leg joint group clamp nuts, 21311. big leg joint group bevel gears, 21312. is big
Leg joint group bevel gear bar, 21313. big leg joint group clutch shaft bearings, 21314. big leg joint group second bearings, 21315. thighs
The cover plate of joint group first, the 21316. big cover plates of leg joint group second.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
As shown in figure 1, a kind of be suitable to the walking robot of environments such as subsea, including the machine person, robot leg group, vision
System, illuminator and power supply and control system.
The machine person is made up of body upper casing 11 and body lower casing 12, passes through between body upper casing 11 and body lower casing 12
Bolt connection.
Robot leg group includes six robot legs：First robot leg 21, Article 2 robot leg 22, Article 3 machine
Device people leg 23, Article 4 robot leg 24, Article 5 robot leg 25, Article 6 robot leg 26, every knot of robot leg
Structure is identical, and robot leg is symmetrically distributed in the both sides of the machine person two-by-two, and spiral shell is passed through between robot leg and the machine person
Bolt is connected.
As shown in figure 3, being illustrated by taking first robot leg 21 as an example, first robot leg 21 is by front and rear pendulum joint
Group 211, upper bottom joint group 212, big leg joint group 213 and shank 214 are constituted.
As shown in figure 4, pendulum joint group cylinder 21101, front and rear pendulum joint group servo is electric before and after front and rear pendulum joint group 211 includes
It is machine 21102, front and rear pendulum joint group motor fixing plate 21103, front and rear pendulum joint group cylinder hubcap static sealing ring 21104, front and rear
Pendulum joint group cylinder back-end lid static sealing ring 21105, front and rear pendulum joint group cylinder hubcap the first sealing ring 21106, front and rear pendulum
Joint group cylinder hubcap the second sealing ring 21107, front and rear pendulum joint group cylinder hubcap 21108, front and rear pendulum joint group cylinder
Rear end cap 21109, front and rear pendulum joint group flat key 21110, front and rear pendulum joint group clamp nut 21111, front and rear pendulum joint group first
Connecting plate 21112, the second connecting plate of front and rear pendulum joint group 21113 and front and rear pendulum joint group bearing of rear end cover 21114.Front and rear pendulum is closed
The outer surface flat board of section group cylinder 21101 is bolted to connection with the machine person；Front and rear pendulum joint group servomotor
21102 be connected by screw near the side of output shaft be fixed on before and after on pendulum joint group motor fixing plate 21103；Front and rear pendulum is closed
Section group motor fixing plate 21103 is connected by screw before and after being fixed in the inner chamber of pendulum joint group cylinder 21101；Front and rear pendulum joint group
Cylinder hubcap static sealing ring 21104 and front and rear pendulum joint group cylinder back-end lid static sealing ring 21105 are separately mounted to front and rear pendulum
In group 21,101 two seal grooves of end face of cylinder of joint；The first sealing ring of front and rear pendulum joint group cylinder hubcap 21106 and front and rear
The second sealing ring of pendulum joint group cylinder hubcap 21107 be separately mounted to before and after pendulum joint group cylinder hubcap 21108 sealing
In groove；Front and rear pendulum joint group cylinder hubcap 21108 output shaft of pendulum joint group servomotor 21102 before and after passes through bolt
Before and after being fastened on the end face of the side of pendulum joint group cylinder 21101；Front and rear pendulum joint group cylinder back-end lid 21109 passes through spiral shell
Bolt is fastened on the end face of the front and rear opposite side of pendulum joint group cylinder 21101；Front and rear pendulum joint group flat key 21110 is placed in joint
In the keyway of the group output shaft of servomotor 21102；Front and rear pendulum joint group the first connecting plate 21112 is by front and rear pendulum joint group flat key
21110 are connected with the output shaft of joint group servomotor 21102；Front and rear pendulum joint group clamp nut 21111 and joint group servo
Threaded connection and the first connecting plate of front and rear pendulum joint group 21112 is pressed on joint group servo between the output shaft of motor 21102
On the output shaft of motor 21102；The inner ring of front and rear pendulum joint group bearing of rear end cover 21114 and front and rear pendulum joint group cylinder back-end lid
Connected by interference fit between 21109；The outer ring of front and rear pendulum joint group bearing of rear end cover 21114 and front and rear pendulum joint group second
Connected by interference fit between connecting plate 21113.
As shown in figure 5, upper bottom joint group 212 includes upper bottom joint group cylinder 21201, upper bottom joint group servo electricity
Machine 21202, upper bottom joint group motor fixing plate 21203, upper bottom joint group cylinder hubcap static sealing ring 21204, up and down
Pendulum joint group cylinder back-end lid static sealing ring 21205, upper bottom joint group cylinder hubcap the first sealing ring 21206, the upper bottom
Joint group cylinder hubcap the second sealing ring 21207, upper bottom joint group cylinder hubcap 21208, upper bottom joint group cylinder
Rear end cap 21209, upper bottom joint group flat key 21210, upper bottom joint group clamp nut 21211, upper bottom joint group first
Connecting plate 21212, the second connecting plate of upper bottom joint group 21213 and upper bottom joint group bearing of rear end cover 21214.The upper bottom is closed
The shape of the mouth as one speaks ring of the outer surface of section group cylinder 21201 connects with the first connecting plate of front and rear pendulum joint group 21112 and front and rear pendulum joint group second
Fishplate bar 21113 is bolted to connection；Upper bottom joint group servomotor 21202 is connected near the side of output shaft by screw
Connect and be fixed on bottom joint group motor fixing plate 21203；Upper bottom joint group motor fixing plate 21203 is connected by screw
It is fixed in the inner chamber of bottom joint group cylinder 21201；Upper bottom joint group cylinder hubcap static sealing ring 21204 and the upper bottom
Joint group cylinder back-end lid static sealing ring 21205 is separately mounted to bottom joint group 21,201 two seal grooves of end face of cylinder
In；The first sealing ring of upper bottom joint group cylinder hubcap 21206 and upper bottom joint group cylinder the second sealing ring of hubcap
21207 are separately mounted in the seal groove of bottom joint group cylinder hubcap 21208；Upper bottom joint group cylinder hubcap
21208 are bolted through the upper output shaft of bottom joint group servomotor 21202 and are fixed on bottom joint group cylinder
On the end face of 21201 sides；Upper bottom joint group cylinder back-end lid 21209 is bolted and is fixed on bottom joint group cylinder
On the end face of the opposite side of body 21201；Upper bottom joint group flat key 21210 is placed in the key of the output shaft of joint group servomotor 21202
In groove；Upper bottom joint group the first connecting plate 21212 is by upper bottom joint group flat key 21210 and joint group servomotor
21202 output shaft connection；Between the output shaft of upper bottom joint group clamp nut 21211 and joint group servomotor 21202
It is threadedly coupled and the first connecting plate of upper bottom joint group 21212 is pressed on the output shaft of joint group servomotor 21202；On
Pass through interference fit between the inner ring and upper bottom joint group cylinder back-end lid 21209 of bottom joint group bearing of rear end cover 21214
Connection；Passed through between the outer ring of upper bottom joint group bearing of rear end cover 21214 and the second connecting plate of upper bottom joint group 21213
It is full of mating connection.
As shown in fig. 6, big leg joint group 213 includes big leg joint group cylinder 21301, big leg joint group servomotor
21302nd, big leg joint group barrel front end lid static sealing ring 21303, big leg joint group cylinder hubcap static sealing ring 21304, big
The first sealing ring of leg joint group cylinder hubcap 21305, big leg joint group cylinder hubcap the second sealing ring 21306, thigh are closed
Section group barrel front end lid 21307, big leg joint group cylinder hubcap 21308, big leg joint group flat key 21309, big leg joint group
Clamp nut 21310, big leg joint group bevel gear 21311, big leg joint group bevel gear bar 21312, big leg joint group first axle
Hold 21313, big leg joint group second bearing 21314, big the first cover plate of leg joint group 21315 and big leg joint the second cover plate of group
21316.Big leg joint group barrel front end lid 21307 and the first connecting plate of upper bottom joint group 21212 and upper bottom joint group the
Two connecting plates 21213 are connected by screw fixation；The first sealing ring of big leg joint group cylinder hubcap 21305 and big leg joint group
The second sealing ring of cylinder hubcap 21306 is separately mounted in the seal groove of big leg joint group cylinder hubcap 21308；Thigh is closed
Section group cylinder hubcap 21308 through big leg joint group servomotor 21302 output shaft and with big leg joint group servomotor
21302 are connected by screw fixation；Big leg joint group barrel front end lid static sealing ring 21303 and big leg joint group cylinder hubcap
Static sealing ring 21304 is separately mounted in big 21,301 two seal grooves of end face of leg joint group cylinder；Before big leg joint group cylinder
End cap 21307 and big leg joint group cylinder hubcap 21308 are bolted are fixed on big leg joint group cylinder 21308 respectively
Two end faces on；Big leg joint group flat key 21309 is placed in the keyway of the big output shaft of leg joint group servomotor 21302；Greatly
Leg joint group bevel gear 21312 is connected with the big output shaft of leg joint group servomotor 21302 by big leg joint group flat key 21309
Connect；Big leg joint group clamp nut 21310 is connected through a screw thread with the big output shaft of leg joint group servomotor 21302, and will be big
Leg joint group bevel gear 21312 is pressed on the big output shaft of leg joint group servomotor 21302；Big leg joint group clutch shaft bearing
21313 inner ring is connected with the axle of close bevel gear side in big leg joint group bevel gear bar 21312 by interference fit；
The inner ring of big leg joint group second bearing 21314 is logical away from the axle of bevel gear side with big leg joint group bevel gear bar 21312
Interference fit is crossed to be connected；The outer ring of big leg joint group clutch shaft bearing 21313 and big leg joint group second bearing 21314 is placed in
In the fork-shaped opening of big leg joint group cylinder hubcap 21308；Big the first cover plate of leg joint group 21315 surrounds big leg joint group the
One bearing 21313 is simultaneously connected by screw with the fork-shaped opening of big leg joint group cylinder hubcap 21308；Big leg joint group
Second cover plate 21316 surrounds big leg joint group second bearing 21314 and by screw and big leg joint group cylinder hubcap 21308
Fork-shaped opening be connected；Shank 214 is connected by screw fixation with big leg joint group bevel gear bar 21312.
As shown in figure 1, vision system is made up of left camera 31 and right camera 32.Left camera 31 and right camera 32
It is symmetrical, it is connected by screw respectively on the front side outer surface for being fixed on body lower casing 12.
As shown in figure 1, illuminator is made up of left side lamp 41 and starboard light 42.Left side lamp 41 and starboard light 42 symmetrically divide
Cloth, is connected by screw on the outer front side surface for being fixed on body lower casing 12 respectively.
As shown in Fig. 2 power supply includes power supply 51, control module 52 and sealing drum 53 with control system.Power supply 51 and control
Module 52 is packaged in sealing drum 53, and sealing drum 53 is bolted and is fixed on the inner surface of body lower casing 12.
Claims (4)
1. it is a kind of to be suitable to the walking robot of environments such as subsea, including the machine person, robot leg group, vision system, illumination system
System and power supply and control system；It is characterized in that：
The machine person is made up of body upper casing and body lower casing, is bolted between body upper casing and body lower casing；
Robot leg group is made up of six robot legs, and the structure of every robot leg is identical, and robot leg is symmetrical two-by-two
In the both sides of the machine person, fixation is bolted between robot leg and the machine person；Robot leg is by front and rear pendulum
Joint group, upper bottom joint group, big leg joint group and shank composition；
Vision system is made up of left camera and right camera；Left camera and right camera are symmetrical, respectively by screw
It is connected and fixed on the outer surface of body lower casing front side；
Illuminator is made up of left side lamp and starboard light；Left side lamp and starboard light are symmetrical, and fixation is connected by screw respectively
In on the outer front side surface of body lower casing；
Power supply includes power supply, control module and sealing drum with control system；Power supply and control module are packaged in sealing drum, sealing
Cylinder is bolted and is fixed on the inner surface of body lower casing.
It is 2. according to claim 1 a kind of to be suitable to the walking robot of environments such as subsea, it is characterised in that
Front and rear pendulum joint group includes that front and rear pendulum joint group cylinder, front and rear pendulum joint group servomotor, front and rear pendulum joint group motor are consolidated
Fixed board, front and rear pendulum joint group cylinder hubcap static sealing ring, front and rear pendulum joint group cylinder back-end lid static sealing ring, front and rear pendulum joint
The first sealing ring of group cylinder hubcap, the second sealing ring of front and rear pendulum joint group cylinder hubcap, front and rear pendulum joint group cylinder shaft end
Lid, front and rear pendulum joint group cylinder back-end lid, front and rear pendulum joint group flat key, front and rear pendulum joint group clamp nut, front and rear pendulum joint group
First connecting plate, front and rear pendulum joint the second connecting plate of group and front and rear pendulum joint group bearing of rear end cover；Front and rear pendulum joint group cylinder
Outer surface flat board is bolted to connection with the machine person；Front and rear pendulum joint group servomotor leads near the side of output shaft
Cross before and after mode connects for screw is fixed on and put on the group motor fixing plate of joint；Front and rear pendulum joint group motor fixing plate is connected by screw solid
Due in front and rear pendulum joint group cylinder lumen；After front and rear pendulum joint group cylinder hubcap static sealing ring and front and rear pendulum joint group cylinder
End cap static sealing ring is put in group two seal grooves of end face of cylinder of joint before and after being separately mounted to；Front and rear pendulum joint group cylinder shaft end
The sealing ring of lid first and front and rear pendulum joint group cylinder the second sealing ring of hubcap put joint group cylinder shaft end before and after being separately mounted to
In the seal groove of lid；Front and rear pendulum joint group cylinder hubcap pendulum joint group servo motor output shaft before and after is bolted
Before and after being fixed on the end face of pendulum joint group cylinder side；Front and rear pendulum joint group cylinder back-end lid is bolted before being fixed on
Afterwards on the end face of pendulum joint group cylinder opposite side；Front and rear pendulum joint group flat key is placed in the keyway of joint group servo motor output shaft
In；The first connecting plate of group pendulum joint group flat key before and after in front and rear pendulum joint is connected with the output shaft of joint group servomotor；Before
It is threadedly coupled between pendulum joint group clamp nut and the output shaft of joint group servomotor afterwards and connects front and rear pendulum joint group first
Fishplate bar is pressed on the output shaft of joint group servomotor；The inner ring of front and rear pendulum joint group bearing of rear end cover and front and rear pendulum joint group
Connected by interference fit between cylinder back-end lid；The outer ring of front and rear pendulum joint group bearing of rear end cover and front and rear pendulum joint group second
Connected by interference fit between connecting plate.
It is 3. according to claim 1 a kind of to be suitable to the walking robot of environments such as subsea, it is characterised in that
Upper bottom joint group includes that upper bottom joint group cylinder, upper bottom joint group servomotor, upper bottom joint group motor are consolidated
Fixed board, upper bottom joint group cylinder hubcap static sealing ring, upper bottom joint group cylinder back-end lid static sealing ring, upper bottom joint
The first sealing ring of group cylinder hubcap, the second sealing ring of upper bottom joint group cylinder hubcap, upper bottom joint group cylinder shaft end
Lid, upper bottom joint group cylinder back-end lid, upper bottom joint group flat key, upper bottom joint group clamp nut, upper bottom joint group
First connecting plate, upper bottom joint the second connecting plate of group and upper bottom joint group bearing of rear end cover；Outside upper bottom joint group cylinder
The shape of the mouth as one speaks ring on surface is bolted to connection with front and rear pendulum joint the first connecting plate of group and front and rear pendulum joint the second connecting plate of group；
Upper bottom joint group servomotor is connected by screw near the side of output shaft and is fixed on upper bottom joint group motor fixing plate
On；Upper bottom joint group motor fixing plate is connected by screw and is fixed in the group cylinder lumen of bottom joint；Upper bottom joint
Group cylinder hubcap static sealing ring and upper bottom joint group cylinder back-end lid static sealing ring are separately mounted to bottom joint group cylinder
In two seal grooves of end face of body；The first sealing ring of upper bottom joint group cylinder hubcap and upper bottom joint group cylinder hubcap
Second sealing ring is separately mounted in the seal groove of bottom joint group cylinder hubcap；Upper bottom joint group cylinder hubcap is worn
Cross bottom joint group servo motor output shaft and be bolted and be fixed on the end face of bottom joint group cylinder side；On
Bottom joint group cylinder back-end lid is bolted and is fixed on the end face of bottom joint group cylinder opposite side；The upper bottom is closed
Section group flat key is placed in the keyway of joint group servo motor output shaft；Upper bottom joint the first connecting plate of group is by upper bottom joint
Group flat key is connected with the output shaft of joint group servomotor；The output of upper bottom joint group clamp nut and joint group servomotor
It is threadedly coupled between axle and upper bottom joint the first connecting plate of group is pressed on the output shaft of joint group servomotor；The upper bottom
Connected by interference fit between the inner ring of joint group bearing of rear end cover and upper bottom joint group cylinder back-end lid；Upper bottom joint
Connected by interference fit between the outer ring of group bearing of rear end cover and upper bottom joint the second connecting plate of group.
It is 4. according to claim 1 a kind of to be suitable to the walking robot of environments such as subsea, it is characterised in that
Big leg joint group includes big leg joint group cylinder, big leg joint group servomotor, big leg joint group barrel front end Gai Jingmi
Seal, big leg joint group cylinder hubcap static sealing ring, the first sealing ring of big leg joint group cylinder hubcap, big leg joint group cylinder
The sealing ring of body hubcap second, big leg joint group barrel front end lid, big leg joint group cylinder hubcap, big leg joint group flat key,
It is big leg joint group clamp nut, big leg joint group bevel gear, big leg joint group bevel gear bar, big leg joint group clutch shaft bearing, big
Leg joint group second bearing, the big cover plate of leg joint group first and the big cover plate of leg joint group second；Big leg joint group barrel front end lid
Fixation is connected by screw with upper bottom joint the first connecting plate of group and upper bottom joint the second connecting plate of group；Big leg joint group cylinder
The sealing ring of body hubcap first and the second sealing ring of big leg joint group cylinder hubcap are separately mounted to big leg joint group drum shaft
In the seal groove of end cap；Big leg joint group cylinder hubcap through big leg joint group servomotor output shaft and with big leg joint
Group servomotor is connected by screw fixation；Big leg joint group barrel front end lid static sealing ring and big leg joint group cylinder hubcap
Static sealing ring is separately mounted in big two seal grooves of end face of leg joint group cylinder；Big leg joint group barrel front end lid and thigh
Joint group cylinder hubcap is bolted on two end faces for being fixed on big leg joint group cylinder respectively；Big leg joint group is put down
Key is placed in the keyway of big leg joint group servo motor output shaft；Big leg joint group bevel gear is defeated with big leg joint group servomotor
Shaft is connected by big leg joint group flat key；Big leg joint group clamp nut passes through spiral shell with big leg joint group servo motor output shaft
Line is connected, and big leg joint group bevel gear is pressed on big leg joint group servo motor output shaft；Big leg joint group first axle
The inner ring for holding is connected with the axle of close bevel gear side in big leg joint group bevel gear bar by interference fit；Big leg joint
Axle in inner ring and the big leg joint group bevel gear bar of group second bearing away from bevel gear side is connected by interference fit；
The fork-shaped that the outer ring of big leg joint group clutch shaft bearing and big leg joint group second bearing is placed in big leg joint group cylinder hubcap is opened
In mouthful；The first cover plate of big leg joint group surrounds big leg joint group clutch shaft bearing and passes through screw and big leg joint group cylinder hubcap
Fork-shaped opening be connected；The second cover plate of big leg joint group is surrounded big leg joint group second bearing and is closed with thigh by screw
The fork-shaped opening of section group cylinder hubcap is connected；Shank is connected by screw fixation with big leg joint group bevel gear bar.
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| CN106926995B (en) | 2018-07-17 |
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