CN209240028U - A kind of multi-foot robot with visual pursuit - Google Patents
A kind of multi-foot robot with visual pursuit Download PDFInfo
- Publication number
- CN209240028U CN209240028U CN201822046767.4U CN201822046767U CN209240028U CN 209240028 U CN209240028 U CN 209240028U CN 201822046767 U CN201822046767 U CN 201822046767U CN 209240028 U CN209240028 U CN 209240028U
- Authority
- CN
- China
- Prior art keywords
- joint arm
- holder
- support leg
- steering engine
- along
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
Multi-foot robot the utility model discloses one of robotic technology field with visual pursuit, including main body and even numbers support leg, support leg is evenly distributed on the side of main body: controller is equipped in main body, its top is equipped with holder, holder transverse direction steering engine and holder longitudinal direction steering engine are equipped in holder, holder is laterally or longitudinally moved along main body, and video camera is equipped with above holder, and video camera is rotated upwardly and downwardly along camera support；Each support leg includes the first joint arm, Bidirectional driving part, second joint arm and third joint arm, and Bidirectional driving part is longitudinally rotated along the first joint arm lateral rotation along second joint arm, and third joint arm is longitudinally rotated along second joint arm.The utility model realizes 360 degree of object tracking functions without dead angle, so that the identification range of multi-foot robot is wider, angle recognition is finer, ensure that robot itself moves the accuracy in orientation, and robot motion is more steady, flexible.
Description
Technical field
The utility model relates to robotic technology fields, in particular to a kind of polypody machine with visual pursuit
People.
Background technique
With the rapid development of intelligent industry, national life level is higher and higher, product requirement of the people to E-consumer
And it is higher and higher, many businesses and institutions have carried out primary study and exploitation for service humanoid robot and amusement robot,
Wherein multi-foot robot be not prone to tip over, the higher advantage of stability, obtained extensive development.
In order to realize that service type, amusement type multi-foot robot identify and track object of which movement, polypody machine in the prior art
Device people increases corresponding vision system, but existing vision system can not match corresponding adjustment system, so that robot
Identification range is limited, and can not accomplish the accurate tracking of object.
Drawbacks described above is worth improving.
Summary of the invention
In order to overcome the shortcomings of existing technology, the utility model provides a kind of multi-foot robot with visual pursuit.
Technical solutions of the utility model are as described below:
A kind of multi-foot robot with visual pursuit, which is characterized in that including main body and even numbers support leg, the support
Foot is evenly distributed on the side of the main body:
Controller is equipped in the main body, top is equipped with holder, is equipped with holder transverse direction steering engine and holder in the holder
Longitudinal steering engine, the holder transverse direction steering engine and holder longitudinal direction steering engine are connect with the controller, the holder transverse direction rudder
Machine controls the holder along the main body transverse movement, and it is vertical along the main body that holder longitudinal direction steering engine controls the holder
To movement；Camera support is equipped with above the holder, video camera covers in the camera support, the video camera edge
The camera support rotate upwardly and downwardly；
Each support leg includes the first joint arm, second joint arm and third joint arm, first joint arm
Connect by Bidirectional driving part with the second joint arm, the Bidirectional driving part along the first joint arm lateral rotation,
The Bidirectional driving part is longitudinally rotated along the second joint arm, and the third joint arm is longitudinal along the second joint arm
Rotation.
According to the utility model of above scheme, which is characterized in that be equipped with notch above the main body, the holder is set to
In the notch.
According to the utility model of above scheme, which is characterized in that the video camera is equipped with video camera shaft, described to take the photograph
Camera shaft is covered in the camera support, and is longitudinally rotated along it.
According to the utility model of above scheme, which is characterized in that the shell side of the main body is equipped with several support legs
Slot is protruded into the support leg slot on the inside of first joint arm, and is fixedly connected with the support leg slot.
Further, the circular in cross-section of the shell.
According to the utility model of above scheme, which is characterized in that be equipped with joint arm transverse direction rudder in first joint arm
Machine, the joint arm transverse direction steering engine control the Bidirectional driving part lateral rotation, are equipped with the first joint in the second joint arm
Arm longitudinal direction steering engine and second joint arm longitudinal direction steering engine, first joint arm longitudinal direction steering engine control the second joint arm along institute
Bidirectional driving part is stated to longitudinally rotate, second joint arm longitudinal direction steering engine control the third joint arm along the second joint arm outside
Side longitudinally rotates.
According to the utility model of above scheme, which is characterized in that the inside of the Bidirectional driving part is equipped with the first support
Foot shaft, the first support leg shaft cover in first joint arm, and along its lateral rotation.
According to the utility model of above scheme, which is characterized in that the outside of the Bidirectional driving part is equipped with the second support
Foot shaft, the second support leg shaft is covered in the inside of the second joint arm, and is longitudinally rotated along it.
According to the utility model of above scheme, which is characterized in that the third joint arm is in Y-shaped.
According to the utility model of above scheme, which is characterized in that the inside of the third joint arm is supported equipped with third
Foot shaft, the third support leg shaft covers in the outside of the second joint arm, and longitudinally rotates along it.
According to the utility model of above scheme, the beneficial effect is that: the utility model passes through the lateral, longitudinal of holder
Rotation, in addition the corresponding angle of video camera rotates, realizes 360 degree of object tracking functions without dead angle, so that multi-foot robot
Identification range is wider, angle recognition is finer, ensure that robot itself moves the accuracy in orientation；Pass through multiple support legs
In each steering engine operating, drive the running in each joint in support leg, ensure that the stationarity of robot motion, movement is more
Flexibly；The utility model is compact-sized, components are few, and production and maintenance cost are lower.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model.
Fig. 2 is the structural schematic diagram of support leg in the utility model.
1, main body in the figure；2, holder；3, camera support；4, video camera；5, support leg；6, video camera shaft；7,
First support leg shaft；8, the second support leg shaft；9, third support leg shaft；10, the first joint arm；11, Bidirectional driving part；
12, second joint arm；13, third joint arm；14, joint arm transverse direction steering engine；15, the first joint arm longitudinal direction steering engine；16, it second closes
Joint arm longitudinal direction steering engine.
Specific embodiment
With reference to the accompanying drawing and the utility model is further described in embodiment:
As shown in Figure 1, a kind of multi-foot robot with visual pursuit, including main body 1 and even numbers support leg 5(this implementation
It is 6 support legs in example), support leg 5 is evenly distributed on the side of main body 1.Preferably, the cross-sectional outer of main body 1 is rounded,
It ensure that being more uniformly stressed for each support leg 5, so that robot motion is more steady, flexible.
Controller is equipped in main body 1, top is equipped with notch, and holder 2 is set in notch, and it is lateral that holder is equipped in holder 2
Steering engine and holder longitudinal direction steering engine, holder transverse direction steering engine and holder longitudinal direction steering engine are connect with controller, the control of holder transverse direction steering engine
For holder 2 along 1 transverse movement of main body, holder longitudinal direction steering engine controls holder along main body longitudinal movement, realizes the wide-angle of holder 2
Degree rotation.
Above holder 2 be equipped with camera support 2,4 sets of video camera in camera support 3, video camera 4 is along camera shooting
Machine supporting element 3 rotates upwardly and downwardly.Preferably, video camera 4 is equipped with video camera shaft 6, and 6 sets of video camera shaft in camera support
On 3, and longitudinally rotated along it.Guarantee the stability connection of holder 2 by notch, and then guarantees the bat of 2 top video camera 4 of holder
Take the photograph precision.
As shown in Fig. 2, each support leg 5 includes the first joint arm 10, second joint arm 12 and third joint arm 13, the
One joint arm 10 is connect by Bidirectional driving part 11 with second joint arm 12, and Bidirectional driving part 11 is lateral along the first joint arm 10
Rotation, Bidirectional driving part 11 are longitudinally rotated along second joint arm 12, and third joint arm 13 turns along second joint arm 12 is longitudinal
It is dynamic.Preferably, the shell side of main body 1 is equipped with several support leg slots, and the inside of the first joint arm 10 is protruded into support leg slot, and
It is fixedly connected with support leg slot.
It is specific: joint arm transverse direction steering engine 14 to be equipped in the first joint arm 10, the inside of Bidirectional driving part 11 is equipped with first
Support leg shaft 7, for the first 7 sets of support leg shaft 10 in the first joint arm, joint arm transverse direction steering engine 14 controls Bidirectional driving part
11 along 10 lateral rotation of the first joint arm；The first joint arm longitudinal direction steering engine 15, Bidirectional driving part are equipped in second joint arm 12
11 outside is equipped with the second support leg shaft 8, inside of second 8 sets of the support leg shaft in second joint arm 12, the first joint arm
Longitudinal steering engine 15 controls second joint arm 12 and longitudinally rotates along Bidirectional driving part 11；The second pass is additionally provided in second joint arm 12
The inside of joint arm longitudinal direction steering engine 16, third joint arm 13 is equipped with third support leg shaft 9, and 9 sets of third support leg shaft is second
The outside of joint arm 12, second joint arm longitudinal direction steering engine 16 control third joint arm 13 and turn along 12 outside of second joint arm is longitudinal
It is dynamic.
Joint arm transverse direction steering engine 14, the first joint arm longitudinal direction steering engine 15 and second joint arm longitudinal direction steering engine 16 are and controller
Electrical connection, the direction of motion and angle of each support leg 5 are controlled by controller, realizes the movement of multi-foot robot.
Third joint arm 13 is in Y-shaped, so that 13 two sides uniform force of third joint arm, and entire third joint arm 13 is more
Add firm.
It should be understood that for those of ordinary skills, it can be modified or changed according to the above description,
And all these modifications and variations all should belong to the protection scope of the appended claims for the utility model.
Illustrative description is carried out to the utility model patent above in conjunction with attached drawing, it is clear that the reality of the utility model patent
It is now not subject to the restrictions described above, as long as being carried out using the method concept and technical solution of the utility model patent various
Improve, or it is not improved the conception and technical scheme of the utility model patent are directly applied into other occasions, in this reality
With in novel protection scope.
Claims (10)
1. a kind of multi-foot robot with visual pursuit, which is characterized in that including main body and even numbers support leg, the support leg
It is evenly distributed on the side of the main body:
Controller is equipped in the main body, top is equipped with holder, and holder transverse direction steering engine is equipped in the holder and holder is longitudinal
Steering engine, the holder transverse direction steering engine and holder longitudinal direction steering engine are connect with the controller, the holder transverse direction steering engine control
The holder is made along the main body transverse movement, holder longitudinal direction steering engine controls the holder and longitudinally transports along the main body
It is dynamic；Camera support is equipped with above the holder, video camera covers in the camera support, and the video camera is along institute
Camera support is stated to rotate upwardly and downwardly；
Each support leg includes the first joint arm, second joint arm and third joint arm, and first joint arm passes through
Bidirectional driving part is connect with the second joint arm, and the Bidirectional driving part is described along the first joint arm lateral rotation
Bidirectional driving part is longitudinally rotated along the second joint arm, and the third joint arm longitudinally turns along the second joint arm
It is dynamic.
2. the multi-foot robot according to claim 1 with visual pursuit, which is characterized in that be equipped with slot above the main body
Mouthful, the holder is set in the notch.
3. the multi-foot robot according to claim 1 with visual pursuit, which is characterized in that the video camera is equipped with and takes the photograph
Camera shaft, the video camera shaft covers in the camera support, and longitudinally rotates along it.
4. the multi-foot robot according to claim 1 with visual pursuit, which is characterized in that the shell side of the main body
It equipped with several support leg slots, protrudes on the inside of first joint arm in the support leg slot, and is fixed with the support leg slot
Connection.
5. the multi-foot robot according to claim 4 with visual pursuit, which is characterized in that the cross section of the shell is in
It is round.
6. the multi-foot robot according to claim 1 with visual pursuit, which is characterized in that set in first joint arm
There is joint arm transverse direction steering engine, the joint arm transverse direction steering engine controls the Bidirectional driving part lateral rotation, the second joint arm
Inside it is equipped with the first joint arm longitudinal direction steering engine and second joint arm longitudinal direction steering engine, first joint arm longitudinal direction steering engine control described the
Two joint arms are longitudinally rotated along the Bidirectional driving part, and second joint arm longitudinal direction steering engine controls the third joint arm along institute
It states and is longitudinally rotated on the outside of second joint arm.
7. the multi-foot robot according to claim 1 with visual pursuit, which is characterized in that the Bidirectional driving part it is interior
Side is equipped with the first support leg shaft, and the first support leg shaft covers in first joint arm, and along its lateral rotation.
8. the multi-foot robot according to claim 1 with visual pursuit, which is characterized in that outside the Bidirectional driving part
Side is equipped with the second support leg shaft, and the second support leg shaft is covered in the inside of the second joint arm, and longitudinally turns along it
It is dynamic.
9. the multi-foot robot according to claim 1 with visual pursuit, which is characterized in that the third joint arm is in Y
Font.
10. the multi-foot robot according to claim 1 with visual pursuit, which is characterized in that the third joint arm
Inside is equipped with third support leg shaft, and the third support leg shaft covers in the outside of the second joint arm, and along its longitudinal direction
Rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822046767.4U CN209240028U (en) | 2018-12-07 | 2018-12-07 | A kind of multi-foot robot with visual pursuit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822046767.4U CN209240028U (en) | 2018-12-07 | 2018-12-07 | A kind of multi-foot robot with visual pursuit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209240028U true CN209240028U (en) | 2019-08-13 |
Family
ID=67531782
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822046767.4U Expired - Fee Related CN209240028U (en) | 2018-12-07 | 2018-12-07 | A kind of multi-foot robot with visual pursuit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209240028U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111152263A (en) * | 2020-01-02 | 2020-05-15 | 金陵科技学院 | Six-foot bionic robot and method thereof |
-
2018
- 2018-12-07 CN CN201822046767.4U patent/CN209240028U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111152263A (en) * | 2020-01-02 | 2020-05-15 | 金陵科技学院 | Six-foot bionic robot and method thereof |
| CN111152263B (en) * | 2020-01-02 | 2021-09-21 | 金陵科技学院 | Six-foot bionic robot and method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205675209U (en) | The on-fixed wing and underwater glider thereof | |
| CN204640239U (en) | A kind of flexible adaptive manipulator | |
| CN204450529U (en) | A kind of aerial explosive-removal robot | |
| CN209240028U (en) | A kind of multi-foot robot with visual pursuit | |
| CN103914072B (en) | A kind of novel detection robot | |
| CN206202708U (en) | A kind of unmanned plane head | |
| CN106914919B (en) | Head driving assembly and ball shape robot | |
| CN107571983B (en) | A kind of depth control method of three joint bionic machine fish | |
| CN106826784A (en) | A kind of mobile processing platform | |
| CN107891296B (en) | Special-shaped workpiece fixer for machining | |
| CN207159509U (en) | The middle presser foot drive of sewing machine | |
| CN204740463U (en) | Human automatic device of following based on distance measurement | |
| CN206962990U (en) | Video capture and transport intelligent integrated machine | |
| CN102263893A (en) | Multi-axis linear motor-driven bionic imaging platform | |
| CN112711277A (en) | Track type inspection robot holder | |
| CN205863366U (en) | A kind of whip antenna leaning device | |
| CN106078689A (en) | Bionic walking rotor robot | |
| CN106142416B (en) | A kind of production equipment of protective case dip forming | |
| CN204295692U (en) | Upper and lower rotating machine arm | |
| CN207825488U (en) | A kind of secondary adhesive tape pressing system of vehicle dormer window | |
| CN206206932U (en) | A kind of night vision camera head | |
| CN205828679U (en) | A kind of antenna surface movement angle feedback device of Shipborne satellite antenna | |
| CN204223106U (en) | Steering device of balanced car | |
| CN206162204U (en) | Gesture control device | |
| CN208196811U (en) | A kind of food and beverage sevice robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190813 Termination date: 20201207 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |