CN104527834B - Tripod robot - Google Patents
Tripod robot Download PDFInfo
- Publication number
- CN104527834B CN104527834B CN201410833638.3A CN201410833638A CN104527834B CN 104527834 B CN104527834 B CN 104527834B CN 201410833638 A CN201410833638 A CN 201410833638A CN 104527834 B CN104527834 B CN 104527834B
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- Prior art keywords
- steering wheel
- piece
- shaped connector
- shaped
- connector
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Classifications
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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
Abstract
The present invention relates to a kind of tripod robot, including triangle top board, triangle panel, U-shaped connector, electric rotating machine, steering wheel and sole, described U-shaped connector includes the first U-shaped connector, the second U-shaped connector, the 3rd U-shaped connector, the 4th U-shaped connector and the 5th U-shaped connector, described steering wheel includes 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 panel.The invention has the beneficial effects as follows: tripod robot passes through triangle panel to " hip joint ", " knee joint " and " ankle joint " corresponding operating, movement to robot center of gravity realizes the walking of tripod robot, turns a somersault and function of standing upside down, ensure that its free shuttling is in the various pipes under complex environment, complete twin conduit effectively detects maintenance work, the life-span of pipeline can be improved, prevent the generation of the accidents such as leakage.
Description
Technical field
The present invention relates to a kind of tripod robot.
Background technology
Ventilation in various underground pipings, aerial pipes and building, refrigeration, circuit, gas pipeline are as the effective thing of one
Material transportation means plays an important role in our life, is widely used.For improving the life-span of pipeline, preventing
The vehicle accidents such as leakage are necessary for effectively detecting pipeline maintenance, but the environment of major part pipeline be people not
Conveniently entering or do not allow people to enter, tripod robot is contemplated to meet this demand and design.
Summary of the invention
The technical problem to be solved in the present invention is, overcomes deficiency of the prior art, it is provided that a kind of tripod robot.
For solving technical problem, the solution of the present invention is:
There is provided a kind of tripod robot, including triangle top board, triangle panel, U-shaped connector, electric rotating machine, steering wheel
And sole, described U-shaped connector include the first U-shaped connector, the second U-shaped connector, the 3rd U-shaped connector, the 4th
U-shaped connector and the 5th U-shaped connector, described steering wheel includes the first steering wheel, the second steering wheel and the 3rd steering wheel, described triangle
Three piece of first steering wheel be installed between shape top board and triangle panel, the triangle of described triangle top board medial surface with corresponding three pieces
Motor is passed through respectively between first steering wheel one end and between the triangle of three piece of first steering wheel one end and triangle panel medial surface
Pad is flexibly connected, to ensure that three piece of first steering wheel carries out freely rotatable between triangle top board and triangle panel；Three pieces
The first steering wheel other end is corresponding respectively to be located in the U-shaped mouth of three piece of first U-shaped connector, and three piece of first U-shaped connector
U-shaped mouth respectively by the corresponding flexible connection of motor pad and three piece of first steering wheel other end；Three piece of first U-shaped connector
Mutually opposing interconnection between base base by fixing connector and three piece of second U-shaped connector respectively, three piece second
Steering wheel upper end is corresponding respectively to be located in the U-shaped mouth of three piece of second U-shaped connector, and the U-shaped of three piece of second U-shaped connector
Mouth is respectively by motor pad and three piece of second corresponding flexible connection in steering wheel upper end；Three piece of second steering wheel lower end correspondence respectively is located in
In the U-shaped mouth of three piece of the 3rd U-shaped connector, and the U-shaped mouth of three piece of the 3rd U-shaped connector is respectively by motor pad and three
Block the 3rd steering wheel lower end correspondence is flexibly connected；Three piece of the 3rd U-shaped connector base is respectively by fixing connector and three piece the 4th
Mutually opposing parallel connection between the base of U-shaped connector 8, three pieces of electric rotating machine upper end correspondences respectively are located in three piece of the 4th U
In the U-shaped mouth of shape connector, and the U-shaped mouth of three piece of the 4th U-shaped connector is respectively by motor pad and three pieces of electric rotating machines
The stator correspondence of upper end is fixing to be connected；The rotor of three pieces of electric rotating machine lower ends is fixing with the 5th U-shaped connector base respectively to be connected
Connect；Three piece of the 3rd steering wheel one end correspondence respectively is located in the U-shaped mouth of three piece of the 5th U-shaped connector, and three piece of the 5th U-shaped
The U-shaped mouth of connector is respectively by motor pad and three piece of the 3rd corresponding flexible connection in steering wheel one end；Three piece of the 3rd steering wheel is respectively
It is fixedly mounted on three pieces of soles.
" hip joint " of this tripod robot is connected by the first steering wheel and the first U-shaped connector correspondence and forms, and " knee joint closes
Joint " connected by the second U-shaped connector, the second steering wheel and the 3rd U-shaped connector correspondence and to form, " naked joint " is by the
Five U-shaped connectors and the 3rd steering wheel correspondence connect composition；By " hip joint ", " knee joint ", " naked joint " structure
Become the one leg of robot, and every lower limb has 4 degree of freedom, i.e. tripod robot and has 12 degree of freedom." hip closes
Joint " in the first steering wheel and the mounting torque direction of the second steering wheel in " knee joint " mutual with the sole direction of advance of robot
Parallel, the mounting torque direction of the 3rd steering wheel of " ankle joint " is mutually perpendicular to the sole direction of advance of robot.
By triangle panel to " hip joint ", " knee joint " and " ankle joint " corresponding operating, to robot center of gravity
Movement realize the walking of tripod robot, turn a somersault and function of standing upside down, it is ensured that all kinds of under complex environment of its free shuttling
In pipeline.
As preferably, described second U-shaped connector, the U-shaped mouth length of the 4th U-shaped connector connect less than the first U-shaped
Part, the 3rd U-shaped connector, the U-shaped mouth length of the 5th U-shaped connector, described U-shaped mouth length refers to U-shaped connector
Base is to the spacing of the U-shaped mouth end of this U-shaped connector.
As preferably, the mounting torque direction of described first steering wheel and the second steering wheel is parallel to each other with sole direction of advance, the 3rd rudder
The mounting torque direction of machine is mutually perpendicular to sole direction of advance, and this structure ensure that tripod robot is the most horizontal in pipeline
Motion, the most stably rest in pipeline along each position.
As preferably, described fixing connector is to be formed by connecting with the nut matched by bolt.
Compared with prior art, the invention has the beneficial effects as follows:
" hip joint " of the tripod robot in the present invention is connected by the first steering wheel and the first U-shaped connector correspondence and forms,
" knee joint " is connected by the second U-shaped connector, the second steering wheel and the 3rd U-shaped connector correspondence and forms, " naked joint "
Connected by the 5th U-shaped connector and the 3rd steering wheel correspondence and form；By " hip joint ", " knee joint ", " naked pass
Joint " constitute the one leg of robot, and every lower limb has 4 degree of freedom, therefore this tripod robot has 12 freedom
Degree.
The mounting torque direction of the second steering wheel in the first steering wheel in " hip joint " of tripod robot and " knee joint " and machine
The sole direction of advance of device people is parallel to each other, and the sole of the mounting torque direction of the 3rd steering wheel of " ankle joint " and robot advances
Direction is mutually perpendicular to, and this structure ensure that tripod robot stably transverse movement in pipeline, the most stably rests on pipe
In road along each position.
By triangle panel to " hip joint ", " knee joint " and " ankle joint " corresponding operating, to robot center of gravity
Move and realize the walking of tripod robot, turn a somersault and function of standing upside down, it is ensured that its free shuttling all kinds of pipes under complex environment
In road, complete twin conduit effectively detects maintenance work, can improve the life-span of pipeline, prevents sending out of the accidents such as leakage
Raw.
Accompanying drawing explanation
Below in conjunction with the accompanying drawings technical solution of the present invention is described further:
Accompanying drawing 1 is the structural representation of tripod robot of the present invention；
Wherein, 1. triangle top board；2. triangle panel；3. the first steering wheel；4. the first U-shaped connector；5. the 2nd U
Shape connector；6. the second steering wheel；7. the 3rd U-shaped connector；8. the 4th U-shaped connector；9. electric rotating machine；10. the 5th U
Shape connector, 11. the 3rd steering wheels, 12. soles.
Detailed description of the invention
The present invention is described below in conjunction with the accompanying drawings.
As it is shown in figure 1, the present invention provides the specific embodiment of a kind of tripod robot, including triangle top board 1, triangle control
Making sheet 2, U-shaped connector, electric rotating machine 9, steering wheel and sole 12, described U-shaped connector includes the first U-shaped connector
4, the second U-shaped connector the 5, the 3rd U-shaped connector the 7, the 4th U-shaped connector 8 and the 5th U-shaped connector 10, described
Steering wheel includes the first steering wheel the 3, second steering wheel 6 and the 3rd steering wheel 11, between described triangle top board 1 and triangle panel 2
Three piece of first steering wheel 3 is installed, between the triangle of described triangle top board 1 medial surface with corresponding three piece of first steering wheel 3 one end,
And be flexibly connected by motor pad respectively between three piece of first steering wheel 3 one end and the triangle of triangle panel 2 medial surface,
To ensure that three piece of first steering wheel carries out freely rotatable between triangle top board and triangle panel 2；Three piece of first steering wheel 3 is another
One end is corresponding respectively to be located in the U-shaped mouth of three piece of first U-shaped connector 4, and the U-shaped of three piece of first U-shaped connector 4
Mouth is respectively by motor pad and three piece of first corresponding flexible connection of steering wheel 3 other end；The end of three piece of first U-shaped connector 4
Mutually opposing interconnection between seat base by fixing connector and three piece of second U-shaped connector 5 respectively, three piece second
Steering wheel 6 upper end is corresponding respectively to be located in the U-shaped mouth of three piece of second U-shaped connector 5, and three piece of second U-shaped connector 5
U-shaped mouth respectively by the corresponding flexible connection in motor pad and three piece of second steering wheel 6 upper end；Three piece of second steering wheel 6 lower end is divided
Correspondence is located in the U-shaped mouth of three piece of the 3rd U-shaped connector 7, and the U-shaped mouth of three piece of the 3rd U-shaped connector 7 is respectively
By motor pad and three piece of the 3rd corresponding flexible connection in steering wheel 11 lower end；Three piece of the 3rd U-shaped connector 7 base passes through respectively
Fixing mutually opposing parallel connection between connector with the base of three piece of the 4th U-shaped connector 8, three pieces of electric rotating machine 9 upper ends
Correspondence is located in the U-shaped mouth of three piece of the 4th U-shaped connector 8 respectively, and the U-shaped mouth of three piece of the 4th U-shaped connector 8 divides
Tong Guo the corresponding flexible connection with the stator of three pieces of electric rotating machine 9 upper ends of motor pad；
The rotor of three pieces of electric rotating machine 9 lower ends is fixing with the 5th U-shaped connector 10 base respectively to be connected；Three piece of the 3rd steering wheel 11
One end is corresponding respectively to be located in the U-shaped mouth of three piece of the 5th U-shaped connector 10, and the U of three piece of the 5th U-shaped connector 10
Shape mouth is respectively by motor pad and three piece of the 3rd corresponding flexible connection in steering wheel 11 one end；Three piece of the 3rd steering wheel 11 fixing peace respectively
It is contained on three pieces of soles 12.
" hip joint " of the tripod robot in the present invention is by the corresponding connection group of the first steering wheel 3 and the first U-shaped connector 4
Becoming, " knee joint " was made up of second U-shaped connector the 5, second steering wheel 6 and the 3rd U-shaped connector 7 corresponding connection,
" naked joint " was made up of the 5th U-shaped connector 10 and the 3rd steering wheel 11 corresponding connection；By " hip joint ", " knee joint
Joint ", " naked joint " constitute the one leg of robot, and every lower limb has 4 degree of freedom, and described tripod robot is altogether
There are 12 degree of freedom.
The mounting torque direction of the first steering wheel 3 in " hip joint " and the second steering wheel 6 in " knee joint " and the sole of robot
12 directions of advance are parallel to each other, and advance with the sole 12 of robot in the mounting torque direction of the 3rd steering wheel 11 of " ankle joint "
Direction is mutually perpendicular to.
By triangle panel 2 to " hip joint ", " knee joint " and " ankle joint " corresponding operating, to robot weight
The movement of the heart realizes the walking of tripod robot, turns a somersault and function of standing upside down, it is ensured that each under complex environment of its free shuttling
In class pipeline, complete twin conduit effectively detects maintenance work, can improve the life-span of pipeline, prevent the accidents such as leakage
Occur.
Wherein: the U-shaped mouth length of described second U-shaped connector the 5, the 4th U-shaped connector 8 is less than the first U-shaped connector
4, the U-shaped mouth length of the 3rd U-shaped connector the 7, the 5th U-shaped connector 10.Described first steering wheel 3 and the second steering wheel 6
Mounting torque direction be parallel to each other with sole 12 direction of advance, advance with sole 12 in the mounting torque direction of the 3rd steering wheel 11
Direction is mutually perpendicular to；This structure ensure that tripod robot stably transverse movement in pipeline, the most stably rests on pipe
In road along each position.
Described fixing connector is to be formed by connecting with the nut matched by bolt.
Above-described embodiment only for technology design and the feature of the present invention are described, its object is to make person skilled in the art's energy much of that
Solve present disclosure and be carried out, can not limit the scope of the invention with this, all according to spirit of the invention institute
The equivalence change made or modification, all should contain within the scope of the present invention.
Claims (4)
1. a tripod robot, including triangle top board (1), triangle panel (2), U-shaped connector, rotation
Motor (9), steering wheel and sole (12), it is characterised in that described U-shaped connector includes the first U-shaped connector
(4), the second U-shaped connector (5), the 3rd U-shaped connector (7), the 4th U-shaped connector (8) and the 5th U-shaped
Connector (10), described steering wheel includes the first steering wheel (3), the second steering wheel (6) and the 3rd steering wheel (11), described triangle
Three piece of first steering wheel (3) is installed, in described triangle top board (1) between shape top board (1) and triangle panel (2)
Between three pieces of angles of side with corresponding three piece of first steering wheel (3) one end and three piece of first steering wheel (3) one end and triangle control
It is flexibly connected by motor pad respectively between three pieces of angles of making sheet (2) medial surface, to ensure that three piece of first steering wheel (3) is three
Carry out freely rotatable between dihedral top board (1) and triangle panel (2)；Three piece of first steering wheel (3) other end is the most right
Should be located in the U-shaped mouth of three piece of first U-shaped connector (4), and the U-shaped mouth of three piece of first U-shaped connector (4) divides
Tong Guo motor pad and three piece of first corresponding flexible connection of steering wheel (3) other end；Three piece of first U-shaped connector (4)
Base respectively by mutually opposing interconnection between the base of fixing connector and three piece of second U-shaped connector (5), three pieces
Second steering wheel (6) upper end correspondence respectively is located in the U-shaped mouth of three piece of second U-shaped connector (5), and three piece of the 2nd U
The U-shaped mouth of shape connector (5) is respectively by motor pad and three piece of second corresponding flexible connection in steering wheel (6) upper end；Three pieces
Second steering wheel (6) lower end correspondence respectively is located in the U-shaped mouth of three piece of the 3rd U-shaped connector (7), and three piece of the 3rd U
The U-shaped mouth of shape connector (7) is respectively by motor pad and three piece of second corresponding flexible connection in steering wheel (6) lower end；Three pieces
3rd U-shaped connector (7) base is respectively by phase between the base of fixing connector and three piece of the 4th U-shaped connector (8)
Mutual antiparallel connection, three pieces of electric rotating machine (9) upper end correspondences respectively are located in the U of three piece of the 4th U-shaped connector (8)
In shape mouth, and the U-shaped mouth of three piece of the 4th U-shaped connector (8) is respectively by motor pad and three pieces of electric rotating machines (9)
The stator correspondence of end is fixing to be connected；The rotor of three pieces of electric rotating machine (9) lower ends respectively with the 5th U-shaped connector (10) base
Fixing connection；
Three piece of the 3rd steering wheel (11) one end correspondence respectively is located in the U-shaped mouth of three piece of the 5th U-shaped connector (10), and
The U-shaped mouth of three piece of the 5th U-shaped connector (10) passes through motor pad and three piece of the 3rd steering wheel (11) one end respectively to taking on service jobs
It is dynamically connected；Three piece of the 3rd steering wheel (11) is respectively and fixedly installed on three pieces of soles (12).
2. according to the tripod robot described in claim 1, it is characterised in that described second U-shaped connector (5),
The U-shaped mouth length of the 4th U-shaped connector (8) less than the first U-shaped connector (4), the 3rd U-shaped connector (7),
The U-shaped mouth length of the 5th U-shaped connector (10), described U-shaped mouth length refers to the base of U-shaped connector to this U-shaped even
The spacing of the U-shaped mouth end of fitting.
3. according to the tripod robot described in claim 1, it is characterised in that described first steering wheel (3) and the second steering wheel
(6) mounting torque direction is parallel to each other with corresponding sole (12) direction of advance, the mounting torque side of the 3rd steering wheel (11)
It is mutually perpendicular to corresponding sole (12) direction of advance.
4. according to the tripod robot described in claim 1, it is characterised in that described fixing connector is by bolt and phase
The nut of coupling is formed by connecting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410833638.3A CN104527834B (en) | 2014-12-26 | 2014-12-26 | Tripod robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410833638.3A CN104527834B (en) | 2014-12-26 | 2014-12-26 | Tripod robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104527834A CN104527834A (en) | 2015-04-22 |
| CN104527834B true CN104527834B (en) | 2017-01-04 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410833638.3A Active CN104527834B (en) | 2014-12-26 | 2014-12-26 | Tripod robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN104527834B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105109573B (en) * | 2015-06-25 | 2017-10-10 | 北京交通大学 | A kind of deformable triangular prism robot |
| CN105223629B (en) * | 2015-10-15 | 2017-08-25 | 同济大学 | Crawl from shield sniffing robot miniature underground |
| CN105539605A (en) * | 2016-02-22 | 2016-05-04 | 盐城市宏辉机械有限公司 | Vehicle folding safety frame |
| CN105774940B (en) * | 2016-04-01 | 2018-01-12 | 北京交通大学 | Tripodia Multidirectional-moving robot |
| CN107458493B (en) * | 2017-09-02 | 2020-01-17 | 山东力聚特种装备股份有限公司 | Wall climbing robot capable of gliding |
| CN107512322A (en) * | 2017-09-02 | 2017-12-26 | 佛山市龙远科技有限公司 | A kind of Climbing Robot |
| CN108555905A (en) * | 2018-03-28 | 2018-09-21 | 西北工业大学 | It is a kind of can teamwork tripod robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5311109A (en) * | 1992-03-31 | 1994-05-10 | Honda Giken Kogyo Kabushiki Kaisha | Locomotion control system for legged mobile robot |
| GB2400686A (en) * | 2003-04-04 | 2004-10-20 | Christopher Charles Box | Motion logging and robotic control and display system |
| CN203601426U (en) * | 2013-12-02 | 2014-05-21 | 西北农林科技大学 | Six-freedom-degree narrow footprint double-foot walking-racing robot |
| CN204037720U (en) * | 2014-09-05 | 2014-12-24 | 哈尔滨石油学院 | A kind of quadruped robot |
| CN204452650U (en) * | 2014-12-26 | 2015-07-08 | 浙江工业大学 | Tripod robot |
-
2014
- 2014-12-26 CN CN201410833638.3A patent/CN104527834B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5311109A (en) * | 1992-03-31 | 1994-05-10 | Honda Giken Kogyo Kabushiki Kaisha | Locomotion control system for legged mobile robot |
| GB2400686A (en) * | 2003-04-04 | 2004-10-20 | Christopher Charles Box | Motion logging and robotic control and display system |
| CN203601426U (en) * | 2013-12-02 | 2014-05-21 | 西北农林科技大学 | Six-freedom-degree narrow footprint double-foot walking-racing robot |
| CN204037720U (en) * | 2014-09-05 | 2014-12-24 | 哈尔滨石油学院 | A kind of quadruped robot |
| CN204452650U (en) * | 2014-12-26 | 2015-07-08 | 浙江工业大学 | Tripod robot |
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| CN104527834A (en) | 2015-04-22 |
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