CN107336763A - A kind of comprehensive multi-joint simulating crawling robot - Google Patents
A kind of comprehensive multi-joint simulating crawling robot Download PDFInfo
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- CN107336763A CN107336763A CN201710555157.4A CN201710555157A CN107336763A CN 107336763 A CN107336763 A CN 107336763A CN 201710555157 A CN201710555157 A CN 201710555157A CN 107336763 A CN107336763 A CN 107336763A
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- Prior art keywords
- support
- joint
- hydraulic cylinder
- hinged
- creeping
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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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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of comprehensive multi-joint simulating crawling robot,Including the m units of creeping being sequentially connected,m≥2,Unit of creeping includes support,Side swing hydraulic cylinder hinged-support,Thigh hydraulic cylinder hinged-support,Hip joint hinged-support,Cross free bearing,Leg mechanism and hydraulic drive mechanism,Side swing hydraulic cylinder hinged-support,Thigh hydraulic cylinder hinged-support,Hip joint hinged-support is arranged on support,Cross free bearing is arranged near thigh hydraulic cylinder hinged-support,Leg mechanism includes the hip joint for being connected to support both sides in turn,Big leg joint,Calf joint and spherical pin,Hydraulic drive mechanism is used to drive leg mechanism to swing,Support front end, which is provided with, rotates free bearing,Rear end is provided with joint shifting axle,1st back-end support to 1 unit of creeping of m is provided with joint shifting axle by rotating the connector rotary shaft of pin connection,The support front end of 2nd to m-th unit of creeping is provided with swings axis with rotating free bearing by swinging the connector of pin connection.
Description
Technical field
The invention belongs to robot field, and in particular to a kind of comprehensive multi-joint simulating crawling robot.
Background technology
In recent years, with the development of science and technology, machine man-based development is also very rapid, and application is also very extensive.
A subject of the simulating crawling robot as robot development and application, it is one of focus of robot field's research, it is also more next
More it is valued by people, development is also more and more faster.
But climbing robot of the prior art is mostly influenceed by unit of creeping, the left side that can have climbing robot
The problems such as right swing or body rotate underaction, it is also possible to some requirements can not be met, meeting requirement
On the basis of can increase the complication degree of simulating crawling robot unavoidably so that the production cost of simulating crawling robot increases
Add.
The content of the invention
The present invention is, and it is an object of the present invention to provide a kind of comprehensive multi-joint simulating crawling in order to solving the above problems and carry out
Robot.
The invention provides a kind of comprehensive multi-joint simulating crawling robot, have the feature that, including：M according to
The unit of creeping of secondary connection, m >=2, wherein, it is hinged that unit of creeping includes support, side swing hydraulic cylinder hinged-support, thigh hydraulic cylinder
Seat, hip joint hinged-support, cross free bearing, leg mechanism and hydraulic drive mechanism, side swing hydraulic cylinder hinged-support, thigh hydraulic cylinder hinge
Bearing, hip joint hinged-support are arranged on support, and cross free bearing is arranged near thigh hydraulic cylinder hinged-support, and leg mechanism is set
Put in the both sides of support, including hip joint, big leg joint, calf joint and the spherical pin being sequentially connected, hip joint, big leg joint
Rotation swinging pair is in turn connected to form with calf joint, hydraulic drive mechanism is used to drive leg mechanism to swing, including thigh liquid
Cylinder pressure, hip joint hydraulic cylinder and shank hydraulic cylinder, thigh hydraulic cylinder are connected on thigh hydraulic cylinder hinged-support by cross free bearing,
Hip joint hydraulic cylinder is connected to side swing hydraulic cylinder hinged-support and hip joint hinged-support, and shank hydraulic cylinder is connected on calf joint,
Support front end, which is provided with, rotates free bearing, and rear end is provided with joint shifting axle, and the 1st back-end support to m-1 units of creeping also is set
Have with joint shifting axle by rotating the connector rotary shaft of pin connection, the support front end of the 2nd to m-th unit of creeping also is set
Have and swing axis by swinging the connector of pin connection with rotating free bearing, connector rotary shaft swings axis with connector and mutually interconnected
Connect composition cross articulated sections so that adjacent unit of creeping can be rotationally connected.
A kind of comprehensive multi-joint simulating crawling robot provided by the invention, in addition to：Damping spring, closed located at shank
Between section and spherical pin.
A kind of comprehensive multi-joint simulating crawling robot provided by the invention, in addition to：Control unit, control thigh liquid
The stroke of cylinder pressure, hip joint hydraulic cylinder and shank hydraulic cylinder, so as to control the amplitude of fluctuation of leg mechanism.
In comprehensive multi-joint simulating crawling robot provided by the invention, it can also have the feature that：Wherein,
M=6.
The effect of invention and effect
According to comprehensive multi-joint simulating crawling robot involved in the present invention, because there are multiple units of creeping, often
Individual unit of creeping is connected by cross articulated sections, so being swung flexibly between each joint, rotates upwardly and downwardly freedom；
Each body joint is provided with two leg mechanisms, and the leg mechanism is good by HYDRAULIC CONTROL SYSTEM, stability.Control unit
Hydraulic drive mechanism can be respectively controlled, enabling to being driven respectively to leg mechanism, allow walking step state to assist
Adjust so that the walking precision of climbing robot is higher.Therefore, comprehensive multi-joint simulating crawling robot structure of the invention
Simply, stability is good, and precision is high, can carry out it is comprehensive creep, avoid climbing robot from turning on one's side, climbing difficulty etc. is asked
Topic；Applicable rugged environment and complicated landform.
Brief description of the drawings
Fig. 1 is the overall structure diagram in embodiments of the invention；
Fig. 2 is the overall structure top view in the embodiment more than the present invention；
Fig. 3 is the cellular construction schematic diagram of creeping in embodiments of the invention；
Fig. 4 is the body articulation structure schematic diagram in embodiments of the invention；
Fig. 5 is the leg mechanism structural representation in embodiments of the invention；
Fig. 6 is the hip joint structural representation in embodiments of the invention；
Fig. 7 is the thigh articulation structure schematic diagram in embodiments of the invention；
Fig. 8 is the calf joint structural representation in embodiments of the invention；
Fig. 9 is the cross articulated sections structural representation in embodiments of the invention.
Embodiment
In order that the technological means that the present invention realizes is easy to understand with effect, with reference to embodiments and accompanying drawing is to this
Invention is specifically addressed.
Embodiment：
Fig. 1 is the overall structure diagram in embodiments of the invention, and Fig. 2 is the overall knot in the embodiment more than the present invention
Structure top view.
As shown in Figures 1 and 2, a kind of comprehensive multi-joint simulating crawling robot 100 of the present embodiment, including：M according to
Creep unit 1 (m >=2) and the control unit (not shown) of secondary connection, the m=6 in the present embodiment.
Fig. 3 is the cellular construction schematic diagram of creeping in embodiments of the invention.
Closed as shown in figure 3, unit 1 of creeping includes support 2, side swing hydraulic cylinder hinged-support 3, thigh hydraulic cylinder hinged-support 4, hip
Save hinged-support 5, cross free bearing 6, leg mechanism 7 and hydraulic drive mechanism.
Fig. 4 is the body articulation structure schematic diagram in embodiments of the invention.
As shown in figure 4, side swing hydraulic cylinder hinged-support 3, thigh hydraulic cylinder hinged-support 4, hip joint hinged-support 5 are connected to support
The body for unit 1 of creeping is constituted on 2, cross free bearing 6 is arranged near thigh hydraulic cylinder hinged-support 4.
Fig. 5 is the leg mechanism structural representation in embodiments of the invention, and Fig. 6 is that the hip in embodiments of the invention closes
Structural representation is saved, Fig. 7 is the thigh articulation structure schematic diagram in embodiments of the invention, and Fig. 8 is in embodiments of the invention
Calf joint structural representation.
As shown in Fig. 5,6,7 and 8, leg mechanism 7 is arranged on the both sides of support 2, including the hip joint 8, big being sequentially connected
Leg joint 9, calf joint 10 and spherical pin 11, hip joint 8, big leg joint 9 and calf joint 10 are in turn connected to form pendulum rotating
Dynamic pair.
In the present embodiment, the connection between hip joint 8 and big leg joint 9, between big leg joint 9 and calf joint 10 is
Rotation connection, the rotation connection connect for single-degree-of-freedom.
Hydraulic drive mechanism is used to drive leg mechanism to swing, including thigh hydraulic cylinder 12, hip joint hydraulic cylinder 13 and small
Leg hydraulic cylinder 14, thigh hydraulic cylinder 12 are connected on thigh hydraulic cylinder hinged-support 4 by cross free bearing 6, hip joint hydraulic cylinder 13
Side swing hydraulic cylinder hinged-support 3 and hip joint hinged-support are connected to, shank hydraulic cylinder 14 is connected on calf joint 10.
Fig. 9 is the cross articulated sections structural representation in embodiments of the invention.
As shown in Fig. 1,2,3,4 and 9, support front end, which is provided with, rotates free bearing 15, and rear end is provided with joint shifting axle 16.
The rear end of support 2 of 1st to the 5th unit 1 of creeping is additionally provided with to be connected with joint shifting axle 16 by rotational pin 17
Connector rotary shaft 18, the front end of support 2 of the 2nd to the 6th unit 1 of creeping is additionally provided with passes through rocking pin with rotating free bearing 15
The connector of 19 connections swings axis 20, and connector rotary shaft 19 swings the interconnection composition cross of axis 20 with connector and is hinged
Connection member 21 so that adjacent unit 1 of creeping can be rotationally connected.
As shown in figure 5, damping spring 22 is located between calf joint 10 and spherical pin 14.
Control unit, control the thigh hydraulic cylinder 12, the hip joint hydraulic cylinder 13 and the shank hydraulic cylinder 14
Stroke, so as to control the amplitude of fluctuation of the leg mechanism 7.
It is six units 1 of creeping in the present embodiment, but can increases if necessary, is moved joint by rotational pin 17
Moving axis 16 is connected with connector rotary shaft 18, and will rotate free bearing 15 by rocking pin 19 is connected with connector swing axis 20
Connect, you can increased unit 1 of creeping is connected with original unit 1 of creeping.
The course of work of the comprehensive multi-joint simulating crawling robot of the present embodiment is as follows：
By in the comprehensive multi-joint simulating crawling robot 100 of the present embodiment, hip joint 8, big leg joint 9 and shank close
Section 10 is in turn connected to form.Hydraulic drive mechanism drives the rotation swinging pair, moves leg mechanism 7, so as to drive list of creeping
Member 1 moves.Rotate free bearing 15 to be connected to form swinging pair by rocking pin 19 with connector swing axis 20, the He of joint rotational axis 16
Connector rotary shaft 18 is connected to form revolute pair by rotational pin 17, and then can be moved for greater flexibility between the unit 1 that makes to creep.
When climbing robot moves, control unit controls the stroke of the hydraulic cylinder in each joint, so as to control leg mechanism 7
Amplitude of fluctuation, and then coordinate the walking step state of each leg mechanism 7.
The effect of embodiment and effect
The comprehensive multi-joint simulating crawling robot of the present embodiment is because have multiple units of creeping, unit of each creeping
It is connected by cross articulated sections, that is, rotates free bearing and swing axis by swinging pin connection formation swinging pair with connector,
So being swung flexibly between each unit, joint rotational axis and connector rotary shaft are connected to form rotation by rotational pin
Pair, so rotating upwardly and downwardly freedom between each unit；Each body joint is provided with two leg mechanisms, and the leg mechanism passes through
HYDRAULIC CONTROL SYSTEM, stability are good.Control unit can be respectively controlled to hydraulic drive mechanism, enabling to respectively
Leg mechanism is driven, allows walking step state to coordinate so that the walking precision of climbing robot is higher.Therefore, it is of the invention
Comprehensive multi-joint simulating crawling robot is simple in construction, and stability is good, and precision is high, can carry out it is comprehensive creep, avoid climbing
Row robot turns on one's side, and climbs the problems such as difficult；Applicable rugged environment and complicated landform.It is hinged additionally by cross
Component is attached or disassembled, it is possible to increases or decreases element number of creeping, it is convenient, versatile to set.
The comprehensive multi-joint simulating crawling robot of the present embodiment is additionally provided with compression spring, can prevent two neighboring
Creep and mutually collide between unit.
The comprehensive multi-joint simulating crawling robot of the present embodiment is additionally provided with damping spring, can be good at mitigating and is somebody's turn to do
Comprehensive multi-joint simulating crawling robot makes its stable movement in caused vibrations of creeping.
Above-mentioned embodiment is the preferred case of the present invention, is not intended to limit protection scope of the present invention.
Claims (4)
- A kind of 1. comprehensive multi-joint simulating crawling robot, it is characterised in that including：The m units of creeping being sequentially connected, m >=2,Wherein, it is described creep unit include support, side swing hydraulic cylinder hinged-support, thigh hydraulic cylinder hinged-support, hip joint hinged-support, Cross free bearing, leg mechanism and hydraulic drive mechanism,The side swing hydraulic cylinder hinged-support, thigh hydraulic cylinder hinged-support, hip joint hinged-support are set on the bracket, and described ten Word free bearing is arranged near the thigh hydraulic cylinder hinged-support,The leg mechanism is arranged on the both sides of the support, including be sequentially connected hip joint, big leg joint, calf joint and Spherical pin, the hip joint, the big leg joint and the calf joint are in turn connected to form rotation swinging pair,The hydraulic drive mechanism is used to drive the leg mechanism to swing, including thigh hydraulic cylinder, hip joint hydraulic cylinder and small Leg hydraulic cylinder, the thigh hydraulic cylinder are connected on thigh hydraulic cylinder hinged-support by the cross free bearing, the hip joint liquid Cylinder pressure is connected to the side swing hydraulic cylinder hinged-support and the hip joint hinged-support, and the shank hydraulic cylinder is connected to the shank On joint,The support front end, which is provided with, rotates free bearing, and rear end is provided with joint shifting axle,The back-end support of 1st to the m-1 unit of creeping is additionally provided with passes through rotational pin with the joint shifting axle The connector rotary shaft of connection, the support front end of the 2nd to unit of being creeped described in m-th are additionally provided with and the rotation free bearing Connector by swinging pin connection swings axis, and the connector rotary shaft swings axis interconnection group with the connector Into cross articulated sections so that the adjacent unit of creeping can be rotationally connected.
- 2. comprehensive multi-joint simulating crawling robot according to claim 1, it is characterised in that also include：Damping spring, between the calf joint and the spherical pin.
- 3. multi-joint climbing robot according to claim 1, it is characterised in that also include：Control unit, the stroke of the thigh hydraulic cylinder, the hip joint hydraulic cylinder and the shank hydraulic cylinder is controlled, so as to Control the amplitude of fluctuation of the leg mechanism.
- 4. multi-joint climbing robot according to claim 1, it is characterised in that：Wherein, m=6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710555157.4A CN107336763A (en) | 2017-07-10 | 2017-07-10 | A kind of comprehensive multi-joint simulating crawling robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710555157.4A CN107336763A (en) | 2017-07-10 | 2017-07-10 | A kind of comprehensive multi-joint simulating crawling robot |
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| Publication Number | Publication Date |
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| CN107336763A true CN107336763A (en) | 2017-11-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710555157.4A Pending CN107336763A (en) | 2017-07-10 | 2017-07-10 | A kind of comprehensive multi-joint simulating crawling robot |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108680647A (en) * | 2018-08-06 | 2018-10-19 | 中国计量大学 | A kind of ultrasonic flaw detection robot for large-size spherical tank steel vessel |
| CN109484509A (en) * | 2018-11-23 | 2019-03-19 | 广东职业技术学院 | One kind is crawled climbing robot |
| CN109538938A (en) * | 2018-12-05 | 2019-03-29 | 浙江海洋大学 | A kind of " thousand-legger " simulating crawling equipment for the buried oil pipeline leak detection in Desert Regions |
| CN110219591A (en) * | 2019-07-25 | 2019-09-10 | 桂林航天工业学院 | A kind of engineering geo-drilling equipment running gear |
| CN110259384A (en) * | 2019-07-25 | 2019-09-20 | 桂林航天工业学院 | A kind of movable engineering drilling machine chassis |
| CN110284835A (en) * | 2019-07-25 | 2019-09-27 | 桂林航天工业学院 | A kind of movable engineering drilling machine |
| CN111071367A (en) * | 2020-03-02 | 2020-04-28 | 秦皇岛达则科技有限公司 | Crawling robot |
| CN111805571A (en) * | 2020-07-17 | 2020-10-23 | 北京理工大学 | Bionic multi-body-section mechanism with elastic energy storage and release devices |
| CN114620161A (en) * | 2022-03-31 | 2022-06-14 | 北京工业大学 | Centipede-simulated robot with multi-terrain adaptability and few-degree-of-freedom leg structure |
| CN114906248A (en) * | 2021-09-30 | 2022-08-16 | 山东聚一天工工业自动化有限公司 | Mobile device and control method thereof |
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| CN102616295A (en) * | 2012-04-09 | 2012-08-01 | 北京理工大学 | Multi-joint chain link-type robot based on modularization |
| CN203780646U (en) * | 2014-04-25 | 2014-08-20 | 中科宇博（北京）文化有限公司 | Mechanical joint and leg structure of bionic mechanical dinosaur |
| JP2014161991A (en) * | 2013-02-28 | 2014-09-08 | Nsk Ltd | Robot movement mechanism and robot comprising the same |
| CN105667622A (en) * | 2016-01-14 | 2016-06-15 | 哈尔滨工业大学 | Six-wheel-foot type moving robot with three robot bodies |
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| CN102616295A (en) * | 2012-04-09 | 2012-08-01 | 北京理工大学 | Multi-joint chain link-type robot based on modularization |
| JP2014161991A (en) * | 2013-02-28 | 2014-09-08 | Nsk Ltd | Robot movement mechanism and robot comprising the same |
| CN203780646U (en) * | 2014-04-25 | 2014-08-20 | 中科宇博（北京）文化有限公司 | Mechanical joint and leg structure of bionic mechanical dinosaur |
| CN105667622A (en) * | 2016-01-14 | 2016-06-15 | 哈尔滨工业大学 | Six-wheel-foot type moving robot with three robot bodies |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108680647B (en) * | 2018-08-06 | 2020-10-30 | 中国计量大学 | Ultrasonic flaw detection robot for large spherical tank steel container |
| CN108680647A (en) * | 2018-08-06 | 2018-10-19 | 中国计量大学 | A kind of ultrasonic flaw detection robot for large-size spherical tank steel vessel |
| CN109484509B (en) * | 2018-11-23 | 2023-09-01 | 广东职业技术学院 | Creeping robot |
| CN109484509A (en) * | 2018-11-23 | 2019-03-19 | 广东职业技术学院 | One kind is crawled climbing robot |
| CN109538938A (en) * | 2018-12-05 | 2019-03-29 | 浙江海洋大学 | A kind of " thousand-legger " simulating crawling equipment for the buried oil pipeline leak detection in Desert Regions |
| CN110259384A (en) * | 2019-07-25 | 2019-09-20 | 桂林航天工业学院 | A kind of movable engineering drilling machine chassis |
| CN110284835A (en) * | 2019-07-25 | 2019-09-27 | 桂林航天工业学院 | A kind of movable engineering drilling machine |
| CN110219591A (en) * | 2019-07-25 | 2019-09-10 | 桂林航天工业学院 | A kind of engineering geo-drilling equipment running gear |
| CN110219591B (en) * | 2019-07-25 | 2024-04-26 | 桂林航天工业学院 | Engineering drilling equipment running gear |
| CN110259384B (en) * | 2019-07-25 | 2024-04-19 | 桂林航天工业学院 | Movable engineering driller chassis |
| CN110284835B (en) * | 2019-07-25 | 2024-04-12 | 桂林航天工业学院 | Movable engineering driller |
| CN111071367A (en) * | 2020-03-02 | 2020-04-28 | 秦皇岛达则科技有限公司 | Crawling robot |
| CN111071367B (en) * | 2020-03-02 | 2022-03-11 | 秦皇岛达则科技有限公司 | Crawling robot |
| CN111805571A (en) * | 2020-07-17 | 2020-10-23 | 北京理工大学 | Bionic multi-body-section mechanism with elastic energy storage and release devices |
| CN114906248A (en) * | 2021-09-30 | 2022-08-16 | 山东聚一天工工业自动化有限公司 | Mobile device and control method thereof |
| CN114906248B (en) * | 2021-09-30 | 2023-10-17 | 山东聚一天工工业自动化有限公司 | Mobile device and control method thereof |
| CN114620161B (en) * | 2022-03-31 | 2023-09-01 | 北京工业大学 | Centipede-like robot with multi-terrain adaptability and few-freedom-degree leg structure |
| CN114620161A (en) * | 2022-03-31 | 2022-06-14 | 北京工业大学 | Centipede-simulated robot with multi-terrain adaptability and few-degree-of-freedom leg structure |
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Application publication date: 20171110 |