CN204452650U - Tripod robot - Google Patents
Tripod robot Download PDFInfo
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- CN204452650U CN204452650U CN201420849277.7U CN201420849277U CN204452650U CN 204452650 U CN204452650 U CN 204452650U CN 201420849277 U CN201420849277 U CN 201420849277U CN 204452650 U CN204452650 U CN 204452650U
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Abstract
The utility model relates to a kind of tripod robot, comprise triangle top board, triangle control desk, U-shaped attaching parts, rotating machine, steering wheel and sole, described U-shaped attaching parts comprises the first U-shaped attaching parts, the second U-shaped attaching parts, the 3rd U-shaped attaching parts, the 4th U-shaped attaching parts and the 5th U-shaped attaching parts, described steering wheel comprises the first steering wheel, the second steering wheel and the 3rd steering wheel, is provided with three the first steering wheels between described triangle top board and triangle control desk.The beneficial effects of the utility model are: tripod robot passes through triangle control desk to " hip joint ", " knee joint " and " ankle-joint " corresponding operating, to the movement of robot center of gravity realize tripod robot walking, turn a somersault and function of standing upside down, ensure that its free shuttling is in the various pipes under complex environment, complete twin conduit carries out actv. and detects handling labor, the life-span of pipeline can be improved, prevent the generation of the accidents such as leakage.
Description
Technical field
The utility model relates to a kind of tripod robot.
Background technology
Ventilation in various underfloor duct, aerial pipes and building, refrigeration, circuit, gas pipeline play an important role in our life as a kind of actv. material transportation means, are widely used.For improve pipeline life-span, prevent the generation of the traffic accidents such as leakages just must to pipeline carry out actv. detection maintenance, but the environment of most of pipeline is people is inconvenient to enter or do not allow people to enter, tripod robot designs to meet this demand.
Utility model content
The technical problems to be solved in the utility model is, overcomes deficiency of the prior art, provides a kind of tripod robot.
For technical solution problem, solution of the present utility model is:
A kind of tripod robot is provided, comprise triangle top board, triangle control desk, U-shaped attaching parts, rotating machine, steering wheel and sole, described U-shaped attaching parts comprises the first U-shaped attaching parts, second U-shaped attaching parts, 3rd U-shaped attaching parts, 4th U-shaped attaching parts and the 5th U-shaped attaching parts, described steering wheel comprises the first steering wheel, second steering wheel and the 3rd steering wheel, three the first steering wheels are installed between described triangle top board and triangle control desk, the triangle of described triangle top board medial surface is with between corresponding three first steering wheel one end, and be flexibly connected respectively by motor pad between three first steering wheel one end and the triangle of triangle control desk medial surface, to ensure that three the first steering wheels carry out free rotation between triangle top board and triangle control desk, described three first steering wheel other ends respectively corresponding clip are located in the U-shaped mouth of three the first U-shaped attaching partss, and the U-shaped mouth of described three piece of first U-shaped attaching parts is flexibly connected respectively by motor pad is corresponding with described three first steering wheel other ends, the base of described three piece of first U-shaped attaching parts is respectively by oppositely cross connection mutually between fixed connecting piece and the base of three piece of second U-shaped attaching parts, described three the second steering wheel upper ends respectively corresponding clip are located in the U-shaped mouth of three the second U-shaped attaching partss, and the U-shaped mouth of described three piece of second U-shaped attaching parts is flexibly connected respectively by motor pad is corresponding with described three the second steering wheel upper ends, described three the second steering wheel lower ends respectively corresponding clip are located in the U-shaped mouth of three the 3rd U-shaped attaching partss, and the U-shaped mouth of described three piece of the 3rd U-shaped attaching parts is flexibly connected respectively by motor pad is corresponding with described three the second steering wheel lower ends, described three piece of the 3rd U-shaped attaching parts base to be antiparallelly connected respectively by mutual between fixed connecting piece and the base of three piece of the 4th U-shaped attaching parts, described three rotating machine upper ends respectively corresponding clip are located in the U-shaped mouth of three the 4th U-shaped attaching partss, and the U-shaped mouth of described three piece of the 4th U-shaped attaching parts is fixedly connected with respectively by motor pad is corresponding with the stator of described three rotating machine upper ends, the rotor of described three rotating machine lower ends is fixedly connected with the 5th U-shaped attaching parts base respectively, described three the 3rd steering wheel one end respectively corresponding clip are located in the U-shaped mouth of three the 5th U-shaped attaching partss, and the U-shaped mouth of described three piece of the 5th U-shaped attaching parts is flexibly connected respectively by motor pad is corresponding with described three the 3rd steering wheel one end, described three the 3rd steering wheels are fixedly mounted on three pieces of soles respectively.
" hip joint " of this tripod robot is connected to form by the first steering wheel and the first U-shaped attaching parts correspondence, " knee joint " is connected to form by the second U-shaped attaching parts, the second steering wheel and the 3rd U-shaped attaching parts correspondence, and " naked joint " is connected to form by the 5th U-shaped attaching parts and the 3rd steering wheel correspondence; Consist of the one leg of robot " hip joint ", " knee joint ", " naked joint ", and every bar leg has 4 degree of freedom, namely tripod robot has 12 degree of freedom.The first steering wheel in " hip joint " is parallel to each other with the mounting torque direction of the second steering wheel in " knee joint " and the sole working direction of robot, and the mounting torque direction of the 3rd steering wheel of " ankle-joint " is mutually vertical with the sole working direction of robot.
By triangle control desk to " hip joint ", " knee joint " and " ankle-joint " corresponding operating, to the movement of robot center of gravity realize tripod robot walking, turn a somersault and function of standing upside down, ensure that its free shuttling is in the various pipes under complex environment.
As preferably, the U-shaped mouth length of described second U-shaped attaching parts, the 4th U-shaped attaching parts is less than the U-shaped mouth length of the first U-shaped attaching parts, the 3rd U-shaped attaching parts, the 5th U-shaped attaching parts, and described U-shaped mouth length refers to the spacing of the base of U-shaped attaching parts to the U-shaped mouth end of this U-shaped attaching parts.
As preferably, mounting torque direction and the sole working direction of described first steering wheel and the second steering wheel are parallel to each other, the mounting torque direction of the 3rd steering wheel is mutually vertical with sole working direction, this structure ensure that tripod robot in pipeline stably cross motion, stably rest in pipeline along on each position if desired.
As preferably, described fixed connecting piece is formed by connecting by bolt and the nut matched.
Compared with prior art, the beneficial effects of the utility model are:
" hip joint " of the tripod robot in the utility model is connected to form by the first steering wheel and the first U-shaped attaching parts correspondence, " knee joint " is connected to form by the second U-shaped attaching parts, the second steering wheel and the 3rd U-shaped attaching parts correspondence, and " naked joint " is connected to form by the 5th U-shaped attaching parts and the 3rd steering wheel correspondence; Consist of the one leg of robot " hip joint ", " knee joint ", " naked joint ", and every bar leg has 4 degree of freedom, therefore this tripod robot has 12 degree of freedom.
The first steering wheel in " hip joint " of tripod robot is parallel to each other with the mounting torque direction of the second steering wheel in " knee joint " and the sole working direction of robot, the mounting torque direction of the 3rd steering wheel of " ankle-joint " is mutually vertical with the sole working direction of robot, this structure ensure that tripod robot in pipeline stably cross motion, stably rest in pipeline along on each position if desired.
By triangle control desk to " hip joint ", " knee joint " and " ankle-joint " corresponding operating, to the movement of robot center of gravity realize tripod robot walking, turn a somersault and function of standing upside down, ensure that its free shuttling is in the various pipes under complex environment, complete twin conduit carries out actv. and detects handling labor, the life-span of pipeline can be improved, prevent the generation of the accidents such as leakage.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, technical solutions of the utility model are described further:
Accompanying drawing 1 is the structural representation of the utility model tripod robot;
Wherein, 1. triangle top board; 2. triangle control desk; 3. the first steering wheel; 4. the first U-shaped attaching parts; 5. the second U-shaped attaching parts; 6. the second steering wheel; 7. the 3rd U-shaped attaching parts; 8. the 4th U-shaped attaching parts; 9. rotating machine; 10. the 5th U-shaped attaching parts, 11. the 3rd steering wheels, 12. soles.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described.
As shown in Figure 1, the utility model provides a kind of specific embodiment of tripod robot, comprise triangle top board 1, triangle control desk 2, U-shaped attaching parts, rotating machine 9, steering wheel and sole 12, described U-shaped attaching parts comprises the first U-shaped attaching parts 4, second U-shaped attaching parts 5, 3rd U-shaped attaching parts 7, 4th U-shaped attaching parts 8 and the 5th U-shaped attaching parts 10, described steering wheel comprises the first steering wheel 3, second steering wheel 6 and the 3rd steering wheel 11, three the first steering wheels 3 are installed between described triangle top board 1 and triangle control desk 2, the triangle of described triangle top board 1 medial surface is with between corresponding three first steering wheel 3 one end, and be flexibly connected respectively by motor pad between three first steering wheel 3 one end and the triangle of triangle control desk 1 medial surface, to ensure that three the first steering wheels carry out free rotation between triangle top board and triangle control desk, described three first steering wheel 3 other ends respectively corresponding clip are located in the U-shaped mouth of three the first U-shaped attaching partss 4, and the U-shaped mouth of described three piece of first U-shaped attaching parts 4 is flexibly connected respectively by motor pad is corresponding with described three first steering wheel 3 other ends, the base of described three piece of first U-shaped attaching parts 4 is respectively by oppositely cross connection mutually between fixed connecting piece and the base of three piece of second U-shaped attaching parts 5, described three the second steering wheel 6 upper ends respectively corresponding clip are located in the U-shaped mouth of three the second U-shaped attaching partss 5, and the U-shaped mouth of described three piece of second U-shaped attaching parts 5 is flexibly connected respectively by motor pad is corresponding with described three the second steering wheel 6 upper ends, described three the second steering wheel 6 lower ends respectively corresponding clip are located in the U-shaped mouth of three the 3rd U-shaped attaching partss 7, and the U-shaped mouth of described three piece of the 3rd U-shaped attaching parts 7 is flexibly connected respectively by motor pad is corresponding with described three the second steering wheel 6 lower ends, described three piece of the 3rd U-shaped attaching parts 7 base to be antiparallelly connected respectively by mutual between fixed connecting piece and the base of three piece of the 4th U-shaped attaching parts 8, described three rotating machine 9 upper ends respectively corresponding clip are located in the U-shaped mouth of three the 4th U-shaped attaching partss 8, and the U-shaped mouth of described three piece of the 4th U-shaped attaching parts 8 is flexibly connected respectively by motor pad is corresponding with the stator of described three rotating machine 9 upper ends,
The rotor of described three rotating machine 9 lower ends is fixedly connected with the 5th U-shaped attaching parts 10 base respectively; Described three the 3rd steering wheel 11 one end respectively corresponding clip are located in the U-shaped mouth of three the 5th U-shaped attaching partss 10, and the U-shaped mouth of described three piece of the 5th U-shaped attaching parts 10 is flexibly connected respectively by motor pad is corresponding with described three the 3rd steering wheel 11 one end; Described three the 3rd steering wheels 11 are fixedly mounted on three pieces of soles 12 respectively.
" hip joint " of the tripod robot in the utility model is connected to form by the first steering wheel 3 and the first U-shaped attaching parts 4 correspondence, " knee joint " is connected to form by the second U-shaped attaching parts 5, second steering wheel 6 and the 3rd U-shaped attaching parts 7 correspondence, and " naked joint " is connected to form by the 5th U-shaped attaching parts 10 and the 3rd steering wheel 11 correspondence; Consist of the one leg of robot " hip joint ", " knee joint ", " naked joint ", and every bar leg has 4 degree of freedom, described tripod robot has 12 degree of freedom.
The first steering wheel 3 in " hip joint " is parallel to each other with the mounting torque direction of the second steering wheel 6 in " knee joint " and sole 12 working direction of robot, and the mounting torque direction of the 3rd steering wheel 11 of " ankle-joint " is mutually vertical with sole 12 working direction of robot.
By triangle control desk 2 to " hip joint ", " knee joint " and " ankle-joint " corresponding operating, to the movement of robot center of gravity realize tripod robot walking, turn a somersault and function of standing upside down, ensure that its free shuttling is in the various pipes under complex environment, complete twin conduit carries out actv. and detects handling labor, the life-span of pipeline can be improved, prevent the generation of the accidents such as leakage.
Wherein: the U-shaped mouth length of described second U-shaped attaching parts 5, the 4th U-shaped attaching parts 8 is less than the U-shaped mouth length of the first U-shaped attaching parts 4, the 3rd U-shaped attaching parts 7, the 5th U-shaped attaching parts 10.Mounting torque direction and sole 12 working direction of described first steering wheel 3 and the second steering wheel 6 are parallel to each other, and the mounting torque direction of the 3rd steering wheel 11 is mutually vertical with sole 12 working direction; This structure ensure that tripod robot in pipeline stably cross motion, stably rest in pipeline along on each position if desired.
Described fixed connecting piece is formed by connecting by bolt and the nut matched.
Above-described embodiment is only for illustrating technical conceive of the present utility model and feature; its object is to person skilled in the art can be understood content of the present utility model and be implemented; protection domain of the present utility model can not be limited with this; all equivalences done according to the utility model Spirit Essence change or modify, and all should be encompassed in protection domain of the present utility model.
Claims (4)
1. a tripod robot, comprise triangle top board (1), triangle control desk (2), U-shaped attaching parts, rotating machine (9), steering wheel and sole (12), it is characterized in that, described U-shaped attaching parts comprises the first U-shaped attaching parts (4), second U-shaped attaching parts (5), 3rd U-shaped attaching parts (7), 4th U-shaped attaching parts (8) and the 5th U-shaped attaching parts (10), described steering wheel comprises the first steering wheel (3), second steering wheel (6) and the 3rd steering wheel (11), three the first steering wheels (3) are installed between described triangle top board (1) and triangle control desk (2), three angles of described triangle top board (1) medial surface are with between corresponding three the first steering wheel (3) one end, and be flexibly connected respectively by motor pad between three the first steering wheel (3) one end and three angles of triangle control desk (2) medial surface, to ensure that three the first steering wheels (3) carry out free rotation between triangle top board (1) and triangle control desk (2), described three the first steering wheel (3) other ends respectively corresponding clip are located in the U-shaped mouth of three the first U-shaped attaching partss (4), and the U-shaped mouth of described three piece of first U-shaped attaching parts (4) is flexibly connected respectively by motor pad is corresponding with described three the first steering wheel (3) other ends, the base of described three piece of first U-shaped attaching parts (4) is respectively by oppositely cross connection mutually between fixed connecting piece and the base of three piece of second U-shaped attaching parts (5), described three the second steering wheel (6) upper ends respectively corresponding clip are located in the U-shaped mouth of three the second U-shaped attaching partss (5), and the U-shaped mouth of described three piece of second U-shaped attaching parts (5) is flexibly connected respectively by motor pad is corresponding with described three the second steering wheel (6) upper ends, described three the second steering wheel (6) lower ends respectively corresponding clip are located in the U-shaped mouth of three the 3rd U-shaped attaching partss (7), and the U-shaped mouth of described three piece of the 3rd U-shaped attaching parts (7) is flexibly connected respectively by motor pad is corresponding with described three the second steering wheel (6) lower ends, described three piece of the 3rd U-shaped attaching parts (7) base to be antiparallelly connected respectively by mutual between fixed connecting piece and the base of three piece of the 4th U-shaped attaching parts (8), described three rotating machine (9) upper ends respectively corresponding clip are located in the U-shaped mouth of three the 4th U-shaped attaching partss (8), and the U-shaped mouth of described three piece of the 4th U-shaped attaching parts (8) is fixedly connected with respectively by motor pad is corresponding with the stator of described three rotating machine (9) upper ends, the rotor of described three rotating machine (9) lower ends is fixedly connected with the 5th U-shaped attaching parts (10) base respectively,
Described three the 3rd steering wheel (11) one end respectively corresponding clip are located in the U-shaped mouth of three the 5th U-shaped attaching partss (10), and the U-shaped mouth of described three piece of the 5th U-shaped attaching parts (10) is flexibly connected respectively by motor pad is corresponding with described three the 3rd steering wheel (11) one end; Described three the 3rd steering wheels (11) are fixedly mounted on three pieces of soles (12) respectively.
2. according to the tripod robot described in claim 1, it is characterized in that, the U-shaped mouth length of described second U-shaped attaching parts (5), the 4th U-shaped attaching parts (8) is less than the U-shaped mouth length of the first U-shaped attaching parts (4), the 3rd U-shaped attaching parts (7), the 5th U-shaped attaching parts (10), and described U-shaped mouth length refers to the spacing of the base of U-shaped attaching parts to the U-shaped mouth end of this U-shaped attaching parts.
3. according to the tripod robot described in claim 1, it is characterized in that, the mounting torque direction of described first steering wheel (3) and the second steering wheel (6) is parallel to each other with corresponding sole (12) working direction, and the mounting torque direction of the 3rd steering wheel (11) is mutually vertical with corresponding sole (12) working direction.
4. according to the tripod robot described in claim 1, it is characterized in that, described fixed connecting piece is formed by connecting by bolt and the nut matched.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420849277.7U CN204452650U (en) | 2014-12-26 | 2014-12-26 | Tripod robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420849277.7U CN204452650U (en) | 2014-12-26 | 2014-12-26 | Tripod robot |
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| Publication Number | Publication Date |
|---|---|
| CN204452650U true CN204452650U (en) | 2015-07-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420849277.7U Active CN204452650U (en) | 2014-12-26 | 2014-12-26 | Tripod robot |
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| Country | Link |
|---|---|
| CN (1) | CN204452650U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104527834A (en) * | 2014-12-26 | 2015-04-22 | 浙江工业大学 | Tripod robot |
| CN105109572A (en) * | 2015-08-26 | 2015-12-02 | 北京航空航天大学 | Single-leg structure for wheel-legged type robot in leg-arm mixing operation |
-
2014
- 2014-12-26 CN CN201420849277.7U patent/CN204452650U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104527834A (en) * | 2014-12-26 | 2015-04-22 | 浙江工业大学 | Tripod robot |
| CN104527834B (en) * | 2014-12-26 | 2017-01-04 | 浙江工业大学 | Tripod robot |
| CN105109572A (en) * | 2015-08-26 | 2015-12-02 | 北京航空航天大学 | Single-leg structure for wheel-legged type robot in leg-arm mixing operation |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |