CN101695835B - Intelligent turn-over type climbing robot - Google Patents
Intelligent turn-over type climbing robot Download PDFInfo
- Publication number
- CN101695835B CN101695835B CN2009100731082A CN200910073108A CN101695835B CN 101695835 B CN101695835 B CN 101695835B CN 2009100731082 A CN2009100731082 A CN 2009100731082A CN 200910073108 A CN200910073108 A CN 200910073108A CN 101695835 B CN101695835 B CN 101695835B
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- trunk
- upset
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- paw
- shaft
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Abstract
The invention provides an intelligent turn-over type climbing robot, which comprises a trunk, two turning arms arranged on the trunk, rotating arms arranged on the turning arms, and clamping paws arranged on the rotating arms and a controller, wherein the trunk comprises two parallel supporting rods, a transmission shaft, an upper rotation rod and a lower rotation rod; the supporting rods and the two rotation rods are vertically arranged and are connected through rolling bearings; a turning motor is connected with the trunk through a supporting frame and positioned between the two supporting rods of the trunk; and an output torque of the turning motor is output through a transmission device and drives the rotating arms and the drunk to turn over. The climbing robot uses a turn-over type climbing mode, has high climbing speed, can climb on a bent rod-like object and a horizontal rod-like object, and also can shift and climb between different rod-like objects. The climbing robot is controlled by a remote controller and intelligently, and is flexible in climbing mode and high in intelligent degree. A pressure sensor feeds back a clamping force to make the climbing more reliable.
Description
(1) technical field
What the present invention relates to is a kind of robot, specifically a kind of robot that can realize overturning, climbing function.
(2) background technology
In the modern life, no matter be in civil area or military domain, the climbing technical application more and more widely.Aspect civil area, transport at the work high above the ground goods and materials, pipeline maintenance, trees preventing disease and pest, beta pruning and environmental monitoring etc. all have practical application; Aspect military domain, can be used for hidden military surveillance task and goods and materials afield and transport task dispatching.Existing climbing robot mainly is telescopic, and around the formula of climbing, these modes of creeping exist creep speed slow; Load is little; Reliability is not high, to the surface requirements height of creeping, can not on the shaft of bending or level, creep; Can not between different shafts, move and creep, intelligent degree is not high.
(3) summary of the invention
The object of the present invention is to provide a kind of creep speed fast, the scope of application is wide, and is convenient, flexible, and intelligent degree is high, safe and reliable a kind of intelligent turn-over type climbing robot.The present invention is mainly used in the structure of climbing shaft, like pipeline configuration, and tree etc.
The objective of the invention is to realize like this:
Form and comprise trunk, be installed in two flip-arms on the trunk, be installed in the turning arm on the flip-arm, be installed in clamping paw and controller on the turning arm; Described trunk comprises two parallel support bars, power transmission shaft, goes up dwang and following dwang, and support bar links to each other with the vertical setting of two dwangs and through rolling bearing; The upset motor links to each other with trunk through bracing frame, between two support bars of trunk; The output torque of upset motor drives flip-arm and trunk upset through transmission device output.
The present invention can also comprise:
1, said transmission device comprises motor output shaft gear, tumbler gear, following dwang gear, shaft gear, first belt wheel, second belt wheel and synchronous cog belt; The upset motor links to each other with the motor output shaft gear through shaft coupling, and following dwang gear is installed in down on the dwang, and tumbler gear is installed on the support bar through the tumbler gear bolster; Shaft gear is installed in an end of power transmission shaft; Motor output shaft gear and tumbler gear and following dwang gears engaged, tumbler gear and shaft gear engagement, first belt wheel is installed in the other end of power transmission shaft; Second belt wheel is fixed on the dwang, and two belt wheels connect through synchronous cog belt.
2, the composition of said flip-arm comprises upset pole, upset matrix, rear end cap, electric rotating machine, thrust bearing and stop cover composition; The composition of said turning arm comprises rotary substrate, paw drive motors, leading screw, limit switch, push rod nut and paw turning cylinder; Upset pole one end and dwang is fixed, and the upset pole other end is fixed with the upset matrix, the stop cover be positioned at upset matrix outer end, by about the two-piece-dress body form; The stop cover is fixed on the upset matrix, and electric rotating machine is positioned at the upset body, and the electric rotating machine front end has thrust bearing; The electric rotating machine output shaft is positioned at thrust bearing, and output shaft front end and full wind-up are fixed, and gathering sill is arranged on the rotary substrate; Push rod nut lower end is positioned at gathering sill, and push rod nut upper end has screwed hole to be connected with threads of lead screw, and limit switch is positioned at the leading screw end of travel; The paw drive motors is fixed on the rotary substrate, and motor output shaft is connected through shaft coupling with leading screw.
3, said clamping paw is made up of corpus unguis, pressure sensor, rubber layer, photoelectric tube; Pressure sensor is positioned at corpus unguis inboard, bonding with corpus unguis; Rubber layer sticks on the pressure sensor, and the corpus unguis rear portion is provided with photoelectric tube, and rearmost end has gathering sill; The push rod nut is positioned at gathering sill, and corpus unguis can rotate around the paw turning cylinder that is positioned on the rotary substrate.
4, said controller comprises control module and remote control module composition, and remote control module comprises wireless transmitter module and wireless receiving module, and controller is bonded on the trunk.
Compared with prior art; The invention has the beneficial effects as follows: the convertible climbing level robot utilization of this intelligence turn-over type climbing mode; Creep speed is fast, can on the shaft of the shaft of bending and level, creep, and also can between different shafts, move and creep; Through remote control and Based Intelligent Control, the mode of creeping is flexible, and intelligent degree is high; Make climbing more reliable through the pressure sensor feeds back clamping force.
(4) description of drawings
Fig. 1 is an overall construction drawing of the present invention;
Fig. 2 is the trunk sketch map;
Fig. 3 is the flip-arm sketch map;
Fig. 4 is the paw sketch map;
Fig. 5 is initial pole sketch map;
Fig. 6 is rollover states one sketch map;
Fig. 7 is rollover states two sketch mapes;
Fig. 8 is rollover states three sketch mapes;
Fig. 9 is the state one of between different shafts, creeping;
Figure 10 is the state two of between different shafts, creeping;
Figure 11 is paw fixing front view on shaft;
Figure 12 is paw fixing vertical view on shaft.
(5) specific embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
The formation of intelligent turn-over type climbing robot comprises trunk, flip-arm, turning arm, clamping paw and controller thereof.
The basic boom of trunk comprises the parallel support bar of power transmission shaft 9, two 21, go up the vertically setting and link to each other through rolling bearing of dwang 22 and following dwang 15, two parallel support bars 21 and two dwangs; Upset motor 10 links to each other with trunk through bracing frame 11, between two support bars of trunk; The output torque of upset motor 10 drives flip-arm and trunk upset through transmission device output, and transmission device comprises gear drive and Synchronous Belt Drives device; Gear drive comprises motor output shaft gear 27, tumbler gear 18, tumbler gear bolster 28, following dwang gear 26 and shaft gear 19; Each travelling gear all is separately fixed on each power transmission shaft and the bolster through the key connection; Upset motor 10 links to each other with motor output shaft gear 27 through shaft coupling 16; Power transmission shaft 9 is provided with travelling gear 19 at support bar 21 inboard ends, and the other end is provided with belt wheel 7, and belt wheel 7 is connected fixing with power transmission shaft 9 through key; Another belt wheel 7 connects fixing going up on the dwang 22 through key, and two belt wheels connect through synchronous cog belt 8.
Flip-arm and turning arm are formed by two arms up and down, and two arm configurations are identical, and two flip-arms are formed by upset pole 12, upset matrix 31, rear end cap 30, electric rotating machine 34, thrust bearing 33, holding screw 24, connecting bolt 29 and stop cover 6; Two turning arms are formed by rotary substrate 13, paw drive motors 5, leading screw 4, limit switch 25, push rod nut 2 and paw turning cylinder 3; Upset pole 12 1 ends and dwang are fixed, and the other end is fixed through connecting bolt 29 with upset matrix 31, and stop cover 6 is positioned at upset matrix 31 outer ends; Is made up of two-piece-dress body up and down, is fixed on the upset matrix 31 through screw 24, electric rotating machine 34 is positioned at the body 31 that overturns; Motor rear end is by rear end cap 30 location, and the motor front end has thrust bearing 33, and motor output shaft is positioned at thrust bearing 33; The output shaft front end connects with full wind-up fixed through key, on the rotary substrate 13 gathering sill is arranged, and push rod nut 2 lower ends are positioned at gathering sill; The upper end has screwed hole to be threaded with leading screw 4; Limit switch 25 is positioned at leading screw 4 end of travels, and paw drive motors 5 is fixed on the rotary substrate 13, and motor output shaft is connected through shaft coupling 38 with leading screw 4.
Clamp paw by corpus unguis 1, pressure sensor 35, rubber layer 36, photoelectric tube 37 form, pressure sensor 35 is positioned at corpus unguis 1 inboard;, rubber layer 36 bonding with corpus unguis sticks on the pressure sensor 35; Corpus unguis 1 rear portion is provided with photoelectric tube 37; Rearmost end has gathering sill, and push rod nut 2 is positioned at gathering sill, and corpus unguis 1 can rotate around the paw turning cylinder 3 that is positioned on the rotary substrate 13.
For the ease of understanding the present invention, principle of the present invention and course of action are done further to describe below in conjunction with accompanying drawing.
One, climbing robot fixing principle on shaft
The front view that climbing robot is fixed on erose shaft is shown in figure 11; Vertical view is shown in figure 12; When paw was caught shaft, paw front-end and back-end extension was stuck on the surface of shaft, under the gravity effect of robot self; Moment produces pressure in the contact site of claw and bar, forms frictional force upwards at contact position then.To reach the function of balance self gravitation.
Two, elemental motion summary
1, pole action
Energized, the paw drive motors just changes, through screw-nut body; Promote the push rod nut and in guide groove, advance, drive paw, embrace shaft by moving in the middle of two side direction; While pressure sensor feedback pressure signal; When reaching setting threshold, the control system cuts off the power supply of motor, and drive motors is stopped.
2, put the bar action
Energized, the counter-rotating of paw drive motors drives the feed screw nut counter-rotating, through mother lead screw mechanism urges push rod nut paw is opened to two ends, begins to put the bar action; Trigger limit switch when the push rod nut retreats into extreme position, feed back to position signalling, the control system cuts off the power supply of paw drive motors, and drive motors is stopped, and accomplishes to put the bar action.
3, rotary movement upwards
Dewclaw is embraced bar, and lower claw is decontroled, and the upset motor on the trunk just changes, and through gear drive and Synchronous Belt Drives device, the motion of motor is passed to the both sides flip-arm, and flip-arm is just changeing the flip-flop movement that makes progress of realizing body.When lower claw arrives when grabbing the position of bar, the photoelectric tube on the paw is covered by shaft, feeds back to position signalling, and the control system cuts off the upset motor power, on stir and accomplish.
4, downward rotary movement
Lower claw is embraced bar, and dewclaw is decontroled, and the upset motor counter-rotating on the trunk through gear drive and Synchronous Belt Drives device, is passed to the both sides flip-arm, the downward flip-flop movement of flip-arm counter-rotating realization trunk with the rotation of motor.When dewclaw arrival should be grabbed the position of bar, the photoelectric tube on the paw was covered by shaft, feeds back to position signalling, and the control system cuts off the upset motor power, stirred down and accomplished.
5, the spinning movement of pawl
Run in the crawling process in the time of need from the montant to the cross bar, changing, the electric rotating machine on the turning arm just changes, and drives paw, when paw and bar at ordinary times, control system cut-out electric rotating machine power supply, motor stall.
Three, climbing robot crawling process summary
1, it is fixing on shaft before climbing robot is creeped
Climbing robot is before creeping, and the just commentaries on classics of the drive motors on the upper and lower paw is between the pawl shaft, and embraces shaft, accomplishes the pole action of upper and lower pawl, and the robot of climbing tree is fixed on the shaft.
2, the climbing robot process of swashing
Send the signal of climbing by control module, at first, connect the power supply of bottom paw drive motors, make the drive motors counter-rotating; Through leading screw and nut mechanism, drive the push rod nut and in the guide groove on the rotary substrate, slide backward, drive the bottom paw and open, when the push rod nut is got back to leading screw range place; Through the feedback of limit switch, control system control drive motors makes it to stop, and the control system then makes bottom paw drive motors stall; Upset motor on the control trunk just changes, and through gear drive and Synchronous Belt Drives, the turning arm of both sides is rotated in the forward, and robot is upset upwards; When the bottom paw reached the crawl position, the photoelectric tube on the paw fed back to position signalling, and the control trunk upset motor stall of control system is controlled bottom paw left-hand seat pawl drive motors simultaneously and just changeed; Through leading screw and nut mechanism, promote the push rod nut and advance, make the bottom paw closed; Control system simultaneously receives pressure feedback signal, when reaching setting threshold, makes the stall of lower claw drive motors.At this moment, dewclaw, lower claw all are in the state of embracing bar, and so far, the process of swashing of climbing robot is accomplished.
3, get over journey under the climbing robot
Climb all after dates when accomplishing several, two pawls are all firmly grasped shaft.Utilize remote control module to select to climb function down, judge according to the control module counting that to be positioned at uppermost be dewclaw or lower claw, and the drive motors of controlling this pawl reverses; Unclamp paw; When the push rod nut reached the formation end of leading screw, the upset motor counter-rotating on the trunk was controlled in the drive motors stall this moment; The counter-rotating of upset motor drives the gear and the synchronous cog belt counter-rotating of both sides, and climbing robot is realized the action of upset downwards; The paw that after upset, is positioned at the bottom reaches when grabbing the bar position, and photoelectric tube feeds back to the position signalling of this pawl, and the control system makes upset motor stall, and the paw drive motors of this pawl is just changeed, and clamps shaft, so far, creeps under accomplishing one and makes cycle period.
Four, creeping between the two parallel shafts
Robot need be when a shaft crawls toward a parallel other shape thing, and initial actuating is the same with the process of swashing, in last process of turning over; Through the flip angle of remote control Artificial Control upset motor, make the paw that turns over shaft, and the angle of control electric rotating machine and upset motor makes and turns over paw and catch shaft near parallel position; When paw arrived the crawl position, the photoelectric tube reponse system fed back to position signalling, upset motor and electric rotating machine stall; The drive motors that drives the upset paw is just changeing promptly shaft, when pressure sensor reaches the setting pressure threshold value, and the stall of paw drive motors; Another paw drive motors counter-rotating simultaneously; Unclamp paw, manual remote control upset motor makes on the trunk and turns over, and accomplishes creeping between the shaft.
Claims (5)
1. an intelligent turn-over type climbing robot is characterized in that: form and comprise trunk, be installed in two flip-arms on the trunk, be installed in the turning arm on the flip-arm, be installed in clamping paw and controller on the turning arm; Described trunk comprises two parallel support bars, power transmission shaft, goes up dwang and following dwang, and support bar links to each other with the vertical setting of two dwangs and through rolling bearing; The upset motor links to each other with trunk through bracing frame, between two support bars of trunk; The output torque of upset motor drives flip-arm and trunk upset through transmission device output; The composition of said flip-arm comprises upset pole, upset matrix, rear end cap, electric rotating machine, thrust bearing and stop cover; The composition of said turning arm comprises rotary substrate, paw drive motors, leading screw, limit switch, push rod nut and paw turning cylinder; Upset pole one end and dwang is fixed, and the upset pole other end is fixed with the upset matrix, the stop cover be positioned at upset matrix outer end, by about the two-piece-dress body form; The stop cover is fixed on the upset matrix, and electric rotating machine is positioned at the upset body, and the electric rotating machine front end has thrust bearing; The electric rotating machine output shaft is positioned at thrust bearing, and output shaft front end and full wind-up are fixed, and gathering sill is arranged on the rotary substrate; Push rod nut lower end is positioned at gathering sill, and push rod nut upper end has screwed hole to be connected with threads of lead screw, and limit switch is positioned at the leading screw end of travel; The paw drive motors is fixed on the rotary substrate, and motor output shaft is connected through shaft coupling with leading screw.
2. a kind of intelligent turn-over type climbing robot according to claim 1; It is characterized in that: said transmission device comprises motor output shaft gear, tumbler gear, following dwang gear, shaft gear, first belt wheel, second belt wheel and synchronous cog belt; The upset motor links to each other with the motor output shaft gear through shaft coupling, and following dwang gear is installed in down on the dwang, and tumbler gear is installed on the support bar through the tumbler gear bolster; Shaft gear is installed in an end of power transmission shaft; Motor output shaft gear and tumbler gear and following dwang gears engaged, tumbler gear and shaft gear engagement, first belt wheel is installed in the other end of power transmission shaft; Second belt wheel is fixed on the dwang, and two belt wheels connect through synchronous cog belt.
3. a kind of intelligent turn-over type climbing robot according to claim 1 and 2; It is characterized in that: said clamping paw is made up of corpus unguis, pressure sensor, rubber layer, photoelectric tube, and pressure sensor is positioned at corpus unguis inboard, bonding with corpus unguis, and rubber layer sticks on the pressure sensor; The corpus unguis rear portion is provided with photoelectric tube; Rearmost end has gathering sill, and the push rod nut is positioned at gathering sill, and corpus unguis can rotate around the paw turning cylinder that is positioned on the rotary substrate.
4. a kind of intelligent turn-over type climbing robot according to claim 1 and 2 is characterized in that: said controller comprises control module and remote control module, and remote control module comprises wireless transmitter module and wireless receiving module, and controller is bonded on the trunk.
5. a kind of intelligent turn-over type climbing robot according to claim 3 is characterized in that: said controller comprises control module and remote control module, and remote control module comprises wireless transmitter module and wireless receiving module, and controller is bonded on the trunk.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100731082A CN101695835B (en) | 2009-10-29 | 2009-10-29 | Intelligent turn-over type climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100731082A CN101695835B (en) | 2009-10-29 | 2009-10-29 | Intelligent turn-over type climbing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101695835A CN101695835A (en) | 2010-04-21 |
| CN101695835B true CN101695835B (en) | 2012-05-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2009100731082A Expired - Fee Related CN101695835B (en) | 2009-10-29 | 2009-10-29 | Intelligent turn-over type climbing robot |
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| Country | Link |
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| CN (1) | CN101695835B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103518555A (en) * | 2013-10-15 | 2014-01-22 | 湖南大学 | Remote control high-altitude branch pruning device |
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| CN102728066B (en) * | 2012-07-10 | 2014-04-02 | 西北工业大学 | Four-footed robot capable of rolling over |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN101695835A (en) | 2010-04-21 |
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